BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 71)

Version 07/10 BEI Sensors CANopen Manual serie M 71
Polling in Pre-Operational state
The old generation has accepted polling
requests in pre-operational state, but wasn’t
correct according to CANopen standard. In the
manual for the old encoder was a hint, that the
polling request is not allowed in pre-operational
state, because it is not defined in the CANopen
standard. So be aware that the new encoder is
in general not accepting poll requests in pre-
operational state independent of configuration of
the behavior as new or old encoder.
Changes in boot-up sequence
If the old encoder generation is connected to the
supply voltage or a NMT message (reset node,
reset communication) is sent to the encoder, a
boot-up message appears. The telegram
structure looks like this: identifier: 80hex + node
number, data length 0 bytes
This message was not defined by the
specification DS301 V3.0, but vendor specific
used by some manufactures to show that the
device is ‘alive’.
According to DS301 V4.0 the new rotary
encoder generation doesn’t support this
message anymore. In place of the old message
a common valid boot-up message is defined.
The structure looks like this:
identifier: 700hex + node number, data length 1
byte
This boot-up message also appears if the
command ‘reset node’ and ‘reset
communication’ is sent to the encoder.
Handling of spare parts
Boot-up message new encoder and old
connection cap
To use the new encoder generation as spare
part for the old encoder generation, the new
encoder recognize the old connection cap type
and support the specification DS301-V3.0
automatically as well as the appropriate boot-up
message.
Changing of the default BootUp message of
the B1 version
To get the same boot-up behavior of the old
encoder generation if you use the new encoder
generation and the new connection cap type
there will be following solution:
The needed protocol type will be activated via a
defined device address. Please use the following
configuration sequence:
1. Setting the needed address (s. table
below).
2. Connect the connection cap to the
encoder.
3. Switch on supply voltage.
4. Wait until both LEDs are red.
5. Switch off supply voltage.
6. Remove connection cap.
7. Set up the correct device address. (0-
89)
8. Connect the connection cap to the
encoder.
9. Switch on supply voltage.
normal operation.
Profile according C2 encoder protocol DS301-V3.0 protocol DS301-V4.0
address 97 address 98 address 99