BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 18)

Version 07/10 BEI Sensors CANopen Manual serie M 18
4.1.4 Mode: Stopped
To put one or all nodes in the stopped state, the master have to send the following message:
Identifier Byte 0 Byte 1 Description
0 h 02 h 00 NMT-Stop, all nodes
0 h 02 h NN NMT-Stop, NN
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to stop mode.
4.1.2 Reinitialization of the Encoder
If a node is not operating correctly, it is advisable to carry out a reinitialization:
NN Command Index Description
0 h 82 h 00 Reset Communication
0 h 81 h NN Reset Node
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) in reset mode.
After reinitialization, the encoder accesses the bus in pre-operational mode.
4.2 Normal Operating
Polled Mode By a remote-transmission-request telegram the connected host calls for the current
process value. The encoder reads the current position value, calculates eventually set-
parameters and sends back the obtained process value by the same identifier.
Cyclic Mode The encoder transmits cyclically - without being called by the host - the current process
value. The cycle time can be programmed in milliseconds for values between 1 ms and
65536 ms.
Sync Mode After receiving a sync telegram by the host, the encoder answers with the current
process value. If more than one node number (encoder) shall answer after receiving a
sync telegram, the answer telegrams of the nodes will be received by the host in order
of their node numbers. The programming of an offset-time is not necessary. If a node
should not answer after each sync telegram on the CAN network, the parameter sync
counter can be programmed to skip a certain number of sync telegrams before
answering again.
Tab. 11 CAN Transmission Mode Description