BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 2)

Version 07/10 BEI Sensors CANopen Manual serie M 2
Table of Contents
General Security Advise......................................4
About this Manual................................................ 4
1. Introduction ......................................................5
1.1 General CANopen Information.........................5
2. Installation ........................................................7
2.1 Connection via Connection Cap.......................7
2.1.1 Signal Assignment ........................................7
2.1.2 Bus Termination in Connection Cap .............8
2.1.3 Setting Node Number in Connection Cap .....9
2.1.4 Setting Baudrate in Connection Cap...........10
2.1.5 Status of the connection cap LEDs .............10
2.2 Installation of Connector and Cable
encoders ..............................................................12
2.2.1 Signal Assignment ......................................12
2.2.2 Setting Node Number .................................13
2.2.3 Setting Baud Rate.......................................13
2.2.4 Switching the integrated Bus Terminal
Resistor................................................................14
Object 3002h: Terminal Resistor..........................14
3. Technical Data................................................ 15
Electrical Data......................................................15
Mechanical Data ..................................................15
Minimum Mechanical Lifetime..............................16
Environmental Conditions ....................................16
4. Configuration ................................................. 17
4.1 Operating Modes ...........................................17
4.1.1 General .......................................................17
4.1.2 Mode: Preoperational..................................17
4.1.3 Mode: Start - Operational............................17
4.1.4 Mode: Stopped............................................18
4.1.2 Reinitialization of the Encoder.....................18
4.2 Normal Operating...........................................18
4.3 Storing Parameter..........................................19
4.3.1 List of storable Parameter ...........................19
4.3.1 Storing Procedure .......................................20
4.4 Restoring Parameters ....................................20
4.5 Usage of Layer Setting Services (LSS)..........20
5. Programmable Parameters ........................... 22
5.1 Programming example: Preset Value ............23
5.1.1 Set Encoder Preset Value...........................23
5.2 Communication Profile DS301 specific
objects from 1000h - 1FFFh ................................ 25
5.3 Manufacturer specific objects 2000h –
5FFFh.................................................................. 26
5.4 Application specific objects 6000h – 67FEh .. 26
5.5 Object Descriptions ....................................... 27
Object 1000h: Device Type ................................. 27
Object 1001h: Error Register ............................... 28
Object 1003h: Pre-Defined Error Field ................ 28
Object 1005h: COB-ID Sync................................ 28
Object 1008h: Manufacturer Device Name.......... 29
Object 1009h: Manufacturer Hardware Version... 29
Object 100Ah: Manufacturer Software Version.... 29
Object 100Ch: Guard Time.................................. 29
Object 100Dh: Life Time Factor........................... 30
Object 1010h: Store Parameters ......................... 30
Object 1011h: Restore Parameters ..................... 30
Object 1012h: COB-ID Time Stamp Object ......... 31
Object 1013h: High Resolution Time Stamp........ 31
Object 1014h: COB-ID Emergency Object .......... 31
Object 1016h: Consumer Heartbeat Time ........... 32
Object 1017h: Producer Heartbeat Time ............. 32
Object 1018h: Identity Object .............................. 32
Object 1020h: Verify configuration....................... 33
Object 1029h: Error behaviour............................. 33
Object 1800h:
1
st -TPDO-Communication-Parameter.................. 33
Object 1801h: 2 nd TPDO Communication
Parameter............................................................ 33
Object 1A00h: 1 st TPDO Mapping Parameter...... 35
Object 1A01h: 2 nd TPDO Mapping Parameter..... 35
Object 1F50h: Download Program Area.............. 35
Object 1F51h: Program Control........................... 36
Object 2000h: Position Value .............................. 36
Object 2100h: Operating Parameters .................. 36
Object 2101h: Resolution per Revolution ............ 37
Object 2102h: Total Resolution ........................... 37
Object 2103h: Preset Value................................. 38
Object 2104h: Limit Switch, min. ......................... 39
Object 2105h: Limit Switch, max. ........................ 39
Object 2160h: Customer storage......................... 40