BEI Sensors MHK5 Absolute Hollow Shaft Encoder User Manual
BEI Sensors Sensors
Version 07/10
BEI Sensors CANopen Manual serie M
1
Main Features
-
Compact and heavy-duty industrial design
-
Interface:
CANopen / CAN
- Housing: 58
mm
-
Solid/hollow shaft: 6 or 10mm
/ 15mm
-
Max. 65536 steps per revolution (16 Bit)
-
Max. 16384 revolutions (14 Bit)
- Code:
Binary
-
Velocity and Acceleration Output
Mechanical Structure
-
Aluminium flange and housing
- Stainless
steel
shaft
-
Precision ball bearings with sealing or
cover rings
-
Code disc made of unbreakable and
durable plastic
Programmable Parameters
-
Direction of rotation (complement)
- Resolution
per
revolution
- Total
resolution
- Preset
value
-
Two limit switches and eight cams
-
Baud rate and CAN-identifier
-
Transmission mode: Polled mode, cyclic
mode, sync mode
-
Layer Setting Services
Electrical Features
-
Temperature insensitive IR-opto-receiver
asic with integrated signal conditioning
-
Connection cap: Status indication with
two LEDs
-
Polarity inversion protection
- Over-voltage-peak
protection
ABSOLUTE ROTARY ENCODER WITH CANOPEN INTERFACE
USER MANUAL
Document Outline
- Main Features
- Mechanical Structure
- Programmable Parameters
- Electrical Features
- General Security Advise
- About this Manual
- 1. Introduction
- 2. Installation
- 2.1 Connection via Connection Cap
- 2.1.1 Signal Assignment
- 2.1.2 Bus Termination in Connection Cap
- 2.1.3 Setting Node Number in Connection Cap
- 2.1.4 Setting Baudrate in Connection Cap
- 2.1.5 Status of the connection cap LEDs
- 2.2 Installation of Connector and Cable encoders
- 2.2.1 Signal Assignment
- 2.2.2 Setting Node Number
- 2.2.3 Setting Baud Rate
- 2.2.4 Switching the integrated Bus Terminal Resistor
- Object 3002h: Terminal Resistor
- 3. Technical Data
- 4. Configuration
- 4.1 Operating Modes
- 4.1.1 General
- 4.1.2 Mode: Preoperational
- 4.1.3 Mode: Start - Operational
- 4.1.4 Mode: Stopped
- 4.1.2 Reinitialization of the Encoder
- 4.2 Normal Operating
- 4.3 Storing Parameter
- 4.3.1 List of storable Parameter
- 4.3.1 Storing Procedure
- 4.4 Restoring Parameters
- 4.5 Usage of Layer Setting Services (LSS)
- 5. Programmable Parameters
- 5.1 Programming example: Preset Value
- 5.1.1 Set Encoder Preset Value
- 5.2 Communication Profile DS301 specific objects from 1000h - 1FFFh
- 5.3 Manufacturer specific objects 2000h – 5FFFh
- 5.4 Application specific objects 6000h – 67FEh
- 5.5 Object Descriptions
- Object 1000h: Device Type
- Object 1001h: Error Register
- Object 1003h: Pre-Defined Error Field
- Object 1005h: COB-ID Sync
- Object 1008h: Manufacturer Device Name
- Object 1009h: Manufacturer Hardware Version
- Object 100Ah: Manufacturer Software Version
- Object 100Ch: Guard Time
- Object 100Dh: Life Time Factor
- Object 1010h: Store Parameters
- Object 1011h: Restore Parameters
- Object 1012h: COB-ID Time Stamp Object
- Object 1013h: High Resolution Time Stamp
- Object 1014h: COB-ID Emergency Object
- Object 1016h: Consumer Heartbeat Time
- Object 1017h: Producer Heartbeat Time
- Object 1018h: Identity Object
- Object 1020h: Verify configuration
- Object 1029h: Error behaviour
- Object 1800h: 1st TPDO Communication Parameter
- Object 1801h: 2nd TPDO Communication Parameter
- Object 1A00h: 1st TPDO Mapping Parameter
- Object 1A01h: 2nd TPDO Mapping Parameter
- Object 1F50h: Download Program Area
- Object 1F51h: Program Control
- Object 2000h: Position Value
- Object 2100h: Operating Parameters
- Object 2101h: Resolution per Revolution
- Object 2102h: Total Resolution
- Object 2103h: Preset Value
- Object 2104h: Limit Switch, min.
- Object 2105h: Limit Switch, max.
- Object 2160h: Customer storage
- Object 2200h: Cyclic Timer PDO
- Object 2300h: Save Parameter with Reset
- Object 3000h: Node Number
- Object 3001h: Baudrate
- Object 3002h: Terminal Resistor
- Object 3010h: Speed Control
- Object 3011h: Speed Value
- Object 3020h: Acceleration Control
- Object 3021h: Acceleration Value
- Object 3030h: C2-C5-Behavior
- Object 4000h: Bootloader Control
- Object 6000h: Operating parameters
- Object 6001h: Measuring units per revolution
- Object 6002h: Total measuring range in measuring units
- Object 6003h: Preset value
- Object 6004h: Position value
- Object 6030h: Speed Value
- How to map the speed into TPDO2:
- Object 6040h: Acceleration Value
- Object 6200h: Cyclic timer
- Object 6300h: Cam state register
- Object 6301h: Cam enable register
- Object 6302h: Cam polarity register
- Object 6400h: Area state register
- Object 6401h: Work area low limit
- Object 6402h: Work area high limit
- Object 6500h: Operating status
- Object 6501h: Single-turn resolution
- Object 6502h: Number of distinguishable revolutions
- Object 6503h: Alarms
- Object 6504h: Supported alarms
- Object 6505h: Warnings
- Object 6506h: Supported warnings
- Object 6507h: Profile and software version
- Object 6508h: Operating time
- Object 6509h: Offset value
- Object 650Ah: Module identification
- Object 650Bh: Serial number
- 6. Troubleshooting
- 7. Mechanical Drawings
- Appendix A: Order Codes
- Appendix B: History and Compatibility
- Appendix C: Glossary
- Appendix D: List of tables
- Appendix E: List of figures
- Appendix F: Document history