Programmable parameters – BEI Sensors MHK5 Absolute Hollow Shaft Encoder User Manual
Page 22

Version 07/10
BEI Sensors CANopen Manual serie M
22
5. Programmable Parameters
Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (
)
Command
Function
Telegram
Description
22h
Domain Download
Request
Parameter to Encoderr
23h, 27h, 2Bh, 2Fh (*) Domain Download
Request
Parameter to Encoder (Bytes
indicated)
60h
Domain Download
Confirmation
Parameter received
40h
Domain Upload
Request
Parameter request
43h, 47h, 4Bh, 4Fh (*) Domain Upload
Reply
Parameter to Master (Bytes
indicated)
80 h
Warning
Reply
Transmission error
(*)The value of the command byte depends on the data length of the called parameter.
Tab. 14 General Command Byte Description
Command
Data length
Data type
Command
Data length
Data type
43h
4 Byte
Unsigned 32
23h
4 Byte
Unsigned 32
47h
3 Byte
Unsigned 24
27h
3 Byte
Unsigned 24
4Bh
2 Byte
Unsigned 16
2Bh
2 Byte
Unsigned 16
4Fh
1 Byte
Unsigned 8
2Fh
1 Byte
Unsigned 8
Tab. 15 Detailed Command Byte Description
Object Dictionary