BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 43)

Version 07/10 BEI Sensors CANopen Manual serie M 43
0h Number of sub indices Unsigned 8 2h Ro
1h Enable Acceleration Unsigned 8 0h rw Yes
2h Acceleration modus Unsigned 8 0h rw yes
Object 3021h: Acceleration Value
This object contains acceleration value.
Subindex Description Data Type Default Value Access Restore after
BootUp
0h Acceleration Value INTEGER32 romap
Acceleration-modus setting Delay [msec] Accuracy [steps/sec²]
0
1
2
40
120
750
+/-1’024
+/-512
+/-128
Tab. 21 Delay and accuracy
Object 3030h: C2-C5-Behavior
This object allows to switch back in an backward compatibility mode. To switch back, the security code
“47111147h“ has to be written to Subindex 0h. After this the Subindex 1h Enable C2-C5-Behavior can be
written to ONE. This modus should only be used for fully compatible replacement of C2- or C5-encoders.
For further information, concerning compatibility, have a look at Apendix B
Subindex Description Data Type Default Value Access Restore after
BootUp
0h Security code Unsigned 32 47111147h ro
1h Enable C2-C5-Behavior BOOL 0h rw yes
Object 4000h: Bootloader Control
This object controls the Bootloader functionality. Writing the security code to this object causes erasing the
EEPROM and application information in the flash memory and resets the device. After a power-up, the
Bootloader checks the user application and detects no more information. The Bootloader starts up with a
pre-defined CANopen node ID of 1 (0x1) and a fixed CAN baud rate of 125 kbits.