BEI Sensors THK5 - Manual (Page 21)

POSI+ CANOPEN USER MANUAL
Version 1.02 Page 21
BEI IDEACOD SAS
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The COB ID and the transfer type for the PDOs is determined in the objects 1800h and1802h.
With the software version = 1.01, this value cannot be stored in the EEPROM and has to be
transferred again after each activation (Reset or Power-On).
With the software version >=1.02, this value can be stored in the EEPROM.
Data Bit 7 .. 4 = PDO2 Bit 3 .. 0 = PDO1
00h Default Default
02h Default Type2
20h Type2 Default
22h Type2 Type2
Standard: PDO1 and PDO2 set to type Default (00h)
COB-ID Process data (PDO)
11 bit Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Default Value of position
Type 2 Value of position Speed 00h 00h
Object 2100h: Transmission Rate
Only for standard encoder : DeviceName (1008h) = « POSI+ »
Description This object contains the baud rate, see table above for the values.
Default = 20kbit/s
Object 2101h: Node Number
Only for standard encoder : DeviceName (1008h) = « POSI+ »
Description This object contains the Node Number.
Default = 1
Note: After setting the baud rate or the node number, the parameters must be saved in the
EEPROM with “StoreParameters” (Object 1010h) and the new values are set valid after the device
is reset (NMT reset node ) or power cycled.