Object 1020h: verify configuration, Object 1029h: error behaviour, Object 1800h: 1st tpdo communication parameter – BEI Sensors MHK5 Absolute Hollow Shaft Encoder User Manual
Page 33: Object 1801h: 2nd tpdo communication parameter, Object 1800h: 1, Tpdo-communication-parameter, Object 1801h: 2, Tpdo communication, Parameter

Version 07/10
BEI Sensors CANopen Manual serie M
33
Object 1020h: Verify configuration
This object indicates the downloaded configuration date and time.
Subindex Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of entries
Unsigned 8
2h
ro
no
1h
Configuration date
Unsigned 32
rw
no
2h
Configuration time
Unsigned 32
rw
no
Object 1029h: Error behaviour
This object indicates the error behavior.
Subindex Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of entries
Unsigned 8
1h
ro
no
1h
Communication error
Unsigned 8
rw
no
Object 1800h: 1
st
TPDO Communication Parameter
This object contains the communication parameter of the 1
st
transmit PDO.
Subindex Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
5
ro
yes
1
COB-ID
Unsigned 32
180h + Node ID
rw
yes
2 Transmission
Mode Unsigned
8
FE
rw
yes
3
Inhibit Time
Unsigned 32
0
rw
yes
4 Not
available
5
Event Timer
Unsigned 32
64h or 0
rw
yes
Object 1801h: 2
nd
TPDO Communication Parameter
This object contains the communication parameter of the 2
nd
transmit PDO. NOTE: In the older encoder
line C2 and C5 the second PDO was configured via object 1802!