BEI Sensors THK5 - Manual (Page 20)

POSI+ CANOPEN USER MANUAL
Page 20 Version 1.02
BEI IDEACOD SAS
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Web : www.bei-ideacod.com
5 Manufacturer-specific objects 2000h to 5FFFh
Object
SubIndex
Name Format Access Default Save Description
2002
0
Speed I16 RO No
Speed of the encoder shaft
Number of physical impulses with a
time period of 5 ms
2005 PDO-Type U8 RW 00h
Yes
(1.02)
Types for PDO1 and PDO2
Bit 3..0 = PDO1 Bit 7..4=PDO 2
0 (Default):Byte 0 .. Byte3 of PDO =
Value of position
2 (Type 2):Byte 0 .. Byte3 of PDO =
Value of position
Byte 4 .. 5 of PDO = Speed
Byte 6 .. 7 of PDO = 0x00 0x00
2100
0
Transmission Rate U8 RW 01h Yes
After setting the baud rate, the
EEPROM must be saved and
reinitialized
0=10 kBit/s
1=20 kBit/s (default)
2=50 kBit/s
3=100 kBit/s
4=125 kBit/s
5=250 kBit/s
6=500 kBit/s
7=800 kBit/s
8=1000 kBit/s
2101
0
Node Number U8 RW 01h Yes
Node number 1..127 possible After
setting the baud rate, the EEPROM
must be saved and reinitialized.
Object 2002h: Speed
Only for standard encoder with software version >=1.01 : DeviceName (1008h) = « POSI+ » ,
Software Version (6507h) >= 0x0101
CMS Index Default value Value range Data length
SDO 2002h Signed 16
Description To measure the rotational speed of the encoder shaft, the difference between two
physical (unscaled) values of position with a time period of 5 ms is calculated. The difference
between the two values will be read out as a signed 16 bits value (positive value = clockwise
direction of rotation ).
The output of the speed by means of PDO is made possible by setting the desired PDOs to type 2
(see object 2005h).
Object 2005h: PDO Type
Only for standard encoder with software version >=1.01 : DeviceName (1008h) = « POSI+ » ,
Software Version (6507h) >= 0x0101
CMS Index Default value Value range Data length
SDO 2005h 00h Unsigned 8
This object helps to determine the types for PDO1 and PDO2.