BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 46)

Version 07/10 BEI Sensors CANopen Manual serie M 46
0h Process Value Unsigned 32 - romap yes
Hardwired with Object 2000h.
Object 6030h: Speed Value
This object contains the speed value of the encoder.
Subindex Description Data Type Default Value Access Restore after
BootUp
0h Number of sub indices Unsigned 8 1h ro
1h Speed value channel1 Integer 16 - romap yes
If the velocity exceeds the data type, the speed value is frozen to the maximal possible value.
The customer can use the 3010h (32 bit) object.
How to map the speed into TPDO2:
(Hint: SDO: 0x600 + Node number. The following values are all in hex and the Nodenumber is "1" DLC
(Data length) = 8 , 22 means "write", This example is written in intel-format (LSB...MSB), depending on
your tool, it could be, that Motorola-format (MSB..LSB) is used and the direction of the Bytes have to be
changed.)
1. The TPDO2 has to be enabled by setting the Transmission type (1801Sub2) to FE:
601 8 22 01 18 02 FE 00 00 00
2. The Event Timer has to be changed from 0x00 to the desired value (e.g.: 100 ms --> 0x64)
601 8 22 01 18 05 64 00 00 00
3. The TPDO mapping Parameter 0 (1A01) has to be dissabled, by setting the Number of entries
(1A01Sub0) to 0:
601 8 22 01 1A 00 00 00 00 00
4. Then the dissabled TPDO mapping Parameter 0 Subindex 1, namely mappedObj1, can be written. The
Speed values is Object 6030Sub1 and the data length is 16Bit --> 10:
601 8 22 01 1A 01 10 01 30 60