BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 36)

Version 07/10 BEI Sensors CANopen Manual serie M 36
Object 1F51h: Program Control
This is a special bootloader object, that has functionality for single turn encoders without connection cap
only (see Bootloader chapter).
This array controls the programs residing at index 0x1F50.
Subindex Description Data Type Default Value Access Restore after
BootUp
0h Number of program control
entries
Unsigned 8
2h
ro yes
1h Unsigned 32 rw yes
Sub-index 1h and higher control the memory block functionality. They can have the following values:
for writing:
1 - start downloaded program
4 - erase flash
Object 2000h: Position Value
This object contains the position value.
Subindex Description Data Type Default Value Access Restore after
BootUp
0 Position Value Unsigned 32 - ro n.a.
Object 2100h: Operating Parameters
As operating parameters the code sequence (Complement) can be selected and the limit switches can be
turned on or off.
Subindex Description Data Type Default Value Access Restore after
BootUp
0 Operating Parameters Unsigned 8 0h rw yes
The parameter code sequence (Complement) determines the counting direction, in which the output
process value increases or decreases (CW = Clockwise, CCW = Counterclockwise). The code sequence
is determined by Bit 0 in Index 2100h. Additionally, the two limit switches, Min. and Max. can be turned on
or off in Index 2100h. Optional an event triggered PDO can be activated. Remark: This function produces a