BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 22)

Version 07/10 BEI Sensors CANopen Manual serie M 22
5. Programmable Parameters
Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders ( www.can-cia.org )
Command Function Telegram Description
22h Domain Download Request Parameter to Encoderr
23h, 27h, 2Bh, 2Fh (*) Domain Download Request
Parameter to Encoder (Bytes
indicated)
60h Domain Download Confirmation Parameter received
40h Domain Upload Request Parameter request
43h, 47h, 4Bh, 4Fh (*) Domain Upload Reply
Parameter to Master (Bytes
indicated)
80 h Warning Reply Transmission error
(*)The value of the command byte depends on the data length of the called parameter.
Tab. 14 General Command Byte Description
Command Data length Data type Command Data length Data type
43h 4 Byte Unsigned 32 23h 4 Byte Unsigned 32
47h 3 Byte Unsigned 24 27h 3 Byte Unsigned 24
4Bh 2 Byte Unsigned 16 2Bh 2 Byte Unsigned 16
4Fh 1 Byte Unsigned 8 2Fh 1 Byte Unsigned 8
Tab. 15 Detailed Command Byte Description
Object Dictionary