Bei-sensors MHK5 Absolute Hollow Shaft Encoder Bedienungsanleitung PDF herunterladen (Seite 47)

Version 07/10 BEI Sensors CANopen Manual serie M 47

5. The TPDO mapping Parameter 0 (1A01) has to be enabled, by setting the Number of entries

(1A01Sub0) to 1, again:

601 8 22 01 1A 00 01 00 00 00

6. Finally the Speed has to be enabled by setting "Enable Speed" (3010Sub1):

601 8 22 10 30 01 01 00 00 00

7. To save this configuration please write 73 61 76 65 to 1010:

601 8 22 10 10 01 73 61 76 65

8. Send the NMT-message, to get into "Operational Mode":

00 2 01 00

Summarisation:

601 8 22 01 18 02 FE 00 00 00

601 8 22 01 18 05 64 00 00 00

601 8 22 01 1A 00 00 00 00 00

601 8 22 01 1A 01 10 01 30 60

601 8 22 01 1A 00 01 00 00 00

601 8 22 10 30 01 01 00 00 00

601 8 22 10 10 01 73 61 76 65

00 2 01 00

Object 6040h: Acceleration Value

his object contains the acceleration value of the encoder.

Subindex Description Data Type Default Value Access Restore after

BootUp

0h Number of sub indices Unsigned 8 1h ro

1h Acceleration value channel1 Integer 16 - romap yes

1 2 ... 42 43 44 45 46 47 48 49 50 51 52 ... 76 77

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Bei-sensors MHK5 Absolute Hollow Shaft Encoder Bedienungsanleitung Seite 47