BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 34)

Version 07/10 BEI Sensors CANopen Manual serie M 34
Subindex Description Data Type Default Value Access Restore after
BootUp
0 Number of sub indices Unsigned 8 5 ro yes
1 COB-ID Unsigned 32 280h + Node ID rw yes
2 Transmission Mode Unsigned 8 1 rw yes
3 Inhibit Time Unsigned 32 0 rw yes
4 Not available
5 Event Timer Unsigned 32 0 rw yes
Transmission Mode
The transmission mode can be configured as described below:
Transmission Mode Transfer
Value
(decimal)
Cyclic Acyclic Synchro
nous
Asynchr
onous
RTR
only
Notes
0
X X
Send PDO on first Sync message
following an event
1-240 X X Send PDO every x Sync messages
241-251 reserved
252
X X
Receive SYNC message and send PDO
on Remote Request
253
X
Update data and send PDO on Remote
Request
254 X Send PDO on event
255 X Send PDO on event
Inhibit Time
For "Transmit PDOs", the "inhibit time" for PDO transmissions can be entered in this 16 bit field. If data is
changed, the PDO sender checks whether an "inhibit time" has expired since the last transmission. A new
PDO transmission can only take place if the "inhibit time" has expired. The "inhibit time" is useful for
asynchronous transmission (transmission mode 254 and 255), to avoid overloads on the CAN bus.
Event Timer
The "event timer" only works in asynchronous transmission mode (transmission mode 254 and 255). If the
data changes before the "event timer" expires, a temporary telegram is sent. If a value > 0 is written in this