BEI Sensors THK5 - Manual (Page 9)

POSI+ CANOPEN USER MANUAL
Version 1.02 Page 9
BEI IDEACOD SAS
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2.2. Service data communication
The service data objects correspond to the standards of the CiA. It is possible to access an object
via index and subindex. The data can be requested or where applicable written into the object.
COB-ID Command Index Sub Index Service Data (Parameters)
11 bit Byte 0
Byte 1
(LSB)
Byte 2
(MSB)
Byte 3
Byte 4
(LSB)
Byte 5 Byte 6
Byte 7
(MSB)
COB-ID
An SDO-COB ID is composed as follows:
Master -> Encoder : 600h + Node ID
Encoder -> Master : 580h + Node ID
Request for parameter
Command Function Description
40h Master -> Encoder Request for parameter
43h Encoder -> Master Response 4 bytes (unsigned 32)
4Bh Encoder -> Master Response 2 bytes (unsigned 16)
4Fh Encoder -> Master Response 1 byte (unsigned 8)
80h Encoder -> Master Error
Parameter to the encoder
Command Function Description
23h Master -> Encoder Write 4 bytes (unsigned 32)
2Bh Master -> Encoder Write 2 bytes (unsigned 16)
2Fh Master -> Encoder Write 1 byte (unsigned 8)
60h Encoder -> Master Parameter received
80h Encoder -> Master Error