BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 37)

Version 07/10 BEI Sensors CANopen Manual serie M 37
PDO with every change of the position value. Due to this, there will be generated a large amount of PDOs
and a heavy bus load.
Bit 0 Code
sequence
Code Bit 1 Limit switch,
min.
Bit 2 Limit switch,
max.
Bit 3 Event triggered
PDO
0 CW increasing 0 off 0 off 0 off
1 CCW increasing 1 on 1 on 1 on
Calculation Example: Target: Absolute rotary encoder with direction CCW decreasing, both limit switches
disabled and event-triggered PDOs enabled.
Bitmatrix:
Bit 0 = 1 Direction decreasing (CCW)
Bit 1 = 0 Limit switch min. disabled
Bit 2 = 0 Limit switch max. disabled
Bit 3 = 1 Event triggered
Result = 1001h
Object 2101h: Resolution per Revolution
This object contains the desired steps per revolution of the encoder.
Subindex Description Data Type Default Value Access Restore after
BootUp
0 Resolution per Revolution Unsigned 32 see type sign rw yes
If the desired value exceeds the hardware resolution of the encoder, the code will not be transmitted
stepwise. So it is important, to keep the parameter in the possible value range.
Object 2102h: Total Resolution
This object contains the desired total resolution of the encoder.
Subindex Description Data Type Default Value Access Restore after
BootUp
0 Total Resolution Unsigned 32 see type sign rw yes