BEI Sensors THK5 - Manual (Page 22)

POSI+ CANOPEN USER MANUAL
Page 22 Version 1.02
BEI IDEACOD SAS
Espace Européen de l’Entreprise
9, rue de Copenhague
B.P. 70044 Schiltigheim
F 67013 Strasbourg Cedex
Tél : +33 (0)3 88 20 80 80
Fax : +33 (0)3 88 20 87 87
Mail : [email protected]
Web : www.bei-ideacod.com
6. Encoder-specific objects 6000h to 9FFFh (DS 406)
Introduction This section lists the encoder-specific objects. Each object, with all its technical
characteristics, is described according to the CANopen standard.
Object
SubIndex
Name Format Access Default Save Description
6000
0
Operating Parameters U16 RW 0004h Yes
Bit0 = Position increasing
0 CW
1 CCW
Bit2 = 0 Scaling function
disabled 1 Scaling
function enabled
6001
0
Measuring Units per Revolution U32 RW 00002000h Yes
Resolution in steps /
revolution: 13 bits
6002
0
Total Measuring Range U32 RW
Multi:
20000000h
Mono:
00002000h
Yes
Overall measuring
range in increments
29Bit = multiturn
13Bit = singleturn
6003
0
Preset Value U32 RW 00000000h Yes Preset in increments
6004
0
Position Value U32 RO 00000ECBh Position value
6200
0
Cyclic timer U16 RW 0000h Yes
In ms, identical object
1800h, subindex 5
6300 Cam state register
6300
0
NrOfAvailableChannel U8 RO 01h only CAM1
6300
1
Cam state channe l 1 U8 RO 00h
status bit of the cam in
a cam channel
Bit0 = CAM1
0 = CAM Inactive
1 = CAM active
6301 Cam enable
6301
0
NrOfAvailableChannel U8 RO 01h only CAM1
6301
1
Cam enable channel 1 U8 RW 00h Yes
Bit0 = CAM1
0 = cam disable
1 = cam state
calculated by the
device
6302 Cam polarity
6302
0
NrOfAvailableChannel U8 RO 01h
6302
1
Cam polarity channel 1 U8 RW 00h Yes
Bit0 = CAM1
0 = cam state not
inverted
1 = cam state not
inverted
6310 Cam1 low limit