BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 47)

Version 07/10 BEI Sensors CANopen Manual serie M 47
5. The TPDO mapping Parameter 0 (1A01) has to be enabled, by setting the Number of entries
(1A01Sub0) to 1, again:
601 8 22 01 1A 00 01 00 00 00
6. Finally the Speed has to be enabled by setting "Enable Speed" (3010Sub1):
601 8 22 10 30 01 01 00 00 00
7. To save this configuration please write 73 61 76 65 to 1010:
601 8 22 10 10 01 73 61 76 65
8. Send the NMT-message, to get into "Operational Mode":
00 2 01 00
Summarisation:
601 8 22 01 18 02 FE 00 00 00
601 8 22 01 18 05 64 00 00 00
601 8 22 01 1A 00 00 00 00 00
601 8 22 01 1A 01 10 01 30 60
601 8 22 01 1A 00 01 00 00 00
601 8 22 10 30 01 01 00 00 00
601 8 22 10 10 01 73 61 76 65
00 2 01 00
Object 6040h: Acceleration Value
This object contains the acceleration value of the encoder.
Subindex Description Data Type Default Value Access Restore after
BootUp
0h Number of sub indices Unsigned 8 1h ro
1h Acceleration value channel1 Integer 16 - romap yes