BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 69)

Version 07/10 BEI Sensors CANopen Manual serie M 69
 Singleturn 
10196h
 Mutliturn 
20196h
3.5 Restore Command
In the past the restore command set the encoder
to customised default values The restore
command sets the encoder to BEI Sensors
default values, which are defined in the user
manual. Communication parameters like node
number and baud rate are not restored.
3.6 Connection Cap BCD-switch setting “9”
The, former undefined, BCD-switch setting “9” in
the connection cap is used to set the encoder in
a mode, that ignores the switch setting for baud
rate and node number. The parameters can be
modified by SDO messages and LSS, only.
3.7 C2-C5-Work-around
With little limitations, the new encoder line will be
compatible to the current version. It will be
possible to use the old EDS-file for configuration
purposes in the PLC with the new encoder and
no errors will occur. Merely the enhanced
functions, like velocity- and acceleration-output,
will not be available.
In case for unexpected problems, there is the
possibility to set the CA-encoder in a
compatibility mode, that will restore the old C2-
C5-behavior.
There are the following procedures to set this
mode:
 Manual, with the BCD-switch in the
connection cap:
o
Remove cap from encoder
o
Set node number 97
o
Reconnect connection cap 
Both LEDs will glow in red.
o
Remove connection cap again
and set back to the needed
node number
o
Reconnect connection cap 
C2-C5-Behavior
 Via Software:
o
Set object 3030h subindex 1h
to „ONE“ via SDO-commando
o
Hard- or Software RESET
CA00
Type key
Nr. type key old type key new comment
1
2
58XX-XXXX-XBA1C203PG
AH58-CA-3PG
58XX-XXXX-XBB1C203PG
AH58-B1CA-3PG
encoder CAN
connection cap CAN
X: wildcard for various designs