BEI Sensors THK5 - Manual (Page 14)

POSI+ CANOPEN USER MANUAL
Page 14 Version 1.02
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4. Communication objects 1000h to 1FFFh (DS 301)
Introduction This section lists the objects relating to the communication. Each object, with all its
technical characteristics, is described according to the CANopen standard.
EDS File : PHM5V102.EDS Standard Encoder, Device Name (1008h) = POSI+
(EDS File : PHM5SFV102.EDS for the compatibility with old encoder SHM5,SHU9,MHM5
Device Name = POSI+SF, not for new designs, objects description in Appendix)
Format:
U8 : Unsigned 8 bits
U16 : Unsigned 16 bits
U32 : Unsigned 32 bits
Access:
RO : Read Only
RW : Read Write
Object
SubIndex
Name Format Access Default Save Description
1000
0
DeviceType U32 RO
multiturn
00020196h
monoturn
00010196h
Encoder type: Bytes 0,1
0001:Monoturn 0002:Multiturn Profil
Bytes 2,3: 0196h=406
1001
0
ErrorRegister U8 RO 00h
Bit0 = Generic error
Bit4 = Communication error
1003 pre-defined error field Contains the last error
1003
0
Number of actual errors U8 RW 00h
Number of stored messages 0 or 1
Write 0 to reset the counter
1003
1
New, actual error U32 RO ########
Last Error
1000h Generic error
8130h Life Guard error or Heartbeat
error
1005
0
COB-ID SYNC Message U32 RW 00000080h Yes COB ID of the sync object
1008
0
DeviceName STR CONST POSI+
Name : POSI+ (standard)
Name : POSI+ SF for compatibility
with SHM5/MHM5 see Appendix
100C
0
GuardTime U16 RW 0000h Yes Timer for nodeguarding
100D
0
LifeTimeFactor U8 RW 00h Yes Multiplication of Guard time
1010 StoreParameters Save parameters to encoder
1010
0
LargestSupportedSubindex U8 RO 01h No. of save possibilities 1
1010
1
SaveAllParameters U32 RW 00000001h ="evas " (0x65766173) to save
1011 RestoreDefaultParameters
Restore default parameters from
the encoder
1011
0
LargestSupportedSubindex U8 RO 01h No. of restore possibilities = 1