BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 68)

Version 07/10 BEI Sensors CANopen Manual serie M 68
Appendix B: History and Compatibility
History encoder generations
This chapter gives you information about older
types of absolute rotary encoder with CANopen
interface. Technical changes and compatibilities
between the different types are specified.
Encodergeneration Optocode
Since September 2009 the second CANopen
encoder generation, namely OPTOCODE-II,
replaces the OPTOCODE encoders.
To guarantee conformity to CiA standard the
encoders had to be changed in a way, that they
are not fully compatible to the old types
anymore.
Overview of the incompatibilities:
 LED-behaviour

Object 1802h second TPDO
 Object 1000h Device Type is not 196h
 Restore command
 BCD-switch position 9 in the connection
cap
3.2 Boot-up-time
The encoder line needs less time to send the
Boot-Up message after switching on.
old -series new series
Ca. 3000ms Ca. 250 ms
3.3 Object 1802h
In the past the second PDO could be
parameterised by the object 1801h and 1802h.
This is not consistent with the CiA standards and
will be ended with the new encoder line. This
means in the future the second PDO can only be
parameterised via object 1801h.
New versions
C6, CA
(CiA-
Conform)
Mode COB-ID
1800h PDO1 Asynchronous 180h
1801h PDO2 Cyclic 280h
1802h PDO3 Optional Cyclic
(not used in
C6)
380h
Old versions
C2 and
C5
Mode COB-ID
1800h PDO1 Asynchronous 180h
1801h PDO2 Cyclic Not
used!
1802h PDO2 Optional Cyclic
(used in C2/C5)
280h
3.4 Objekt 1000h Device Type is not 196h
Object 1000h contains a coded description of
CAN devices. Until now 196h was written to all
encoder types. According to the standards
singleturn and multiturn must be distinguished: