BEI Sensors MHK5 Absolute Hollow Shaft Encoder - Manual (Page 70)

Version 07/10 BEI Sensors CANopen Manual serie M 70
Version history connection cap
In particular the design of the connection cap is
improved. Easier installation due to a new type
of screw terminals inside of the connection cap.
On the back of the connection cap two multi-
color LEDs are implemented for easy diagnosis.
The terminal resistor is hooked up via a slide
switch. Thus continuative bus connection will be
cut off. The localisation of accidentally switched
on terminal resistors wil be made easier. The
device address and the baudrate will be
adjusted via BCD switches. This made the
installation easier.
Changes of the CANopen protocol
The following changes have not be relevant to
you because only specific function according to
the newest CANopen specification (DS-301
V4.0) are not supported anymore or are new
implemented. If your application don’t use this
function, there will be no problem.
Changes of entries in object dictionary
Relevant changes applies to the boot-up
message, as well as some entries in the
CANopen object index not used by the common
user. A complete list of these objects you can
find in the following table.
object-nr.
(hex)
comment CANopen profile
DS301 V3.0
58XX-XXXX-XBA1C203PG
CANopen profile
DS301 V4.0
58XX-XXXX-XBB1C203PG
1004 Number of PDOs
supported
supported according to DS301-V4.0 not
supported anymore
100B Node-ID supported according to DS301-V4.0 not
supported anymore
100E COB-ID Guarding
protocol
supported according to DS301-V4.0 not
supported anymore
1016 Consumer heartbeat
time
reserved supported
1017 Producer heartbeat
time
reserved supported
1018 Identity Object reserved supported
Changing transmit PDO communication
parameter
In the new encoder generation the polling isn’t
supported anymore if the PDO is disabled.
According to CANopen specification DS301-
V4.0 it is necessary to set the cyclic time (object
entry [2200h]) to 0 and left the PDO switched on
to poll the encoder. Important! If the PDO is
switched off no communication is possible.