BEI Sensors High Resolution Inclinometers - Manual (Page 4)

Page 4 CANopen Industrial Datasheet Version 130305
INCLI NO MET E R
CA NOPE N
Programmable Encoder - Parameter
Resolution per 1° The parameter resolution per 1° is used to program the desired number of
steps per revolution. The values 1, 10, 100 and 1000 can be programmed.
Preset Value The preset value is the desired position value, which should be reached at a
certain physical position of the axis. The position value is set to the desired
process value by the parameter pre-set.
Baudrate The Baudrate can be programmed via SDO, default 20KBaud.
Node Number The setting of the node number is achieved via SDO-Object. Possible (valid)
addresses lie between 0 and 89 whereby every address can only be used
once. The CANopen inclinometer adds internal 1 to the adjusted device
address. Defauld 20Hex
Programmable CAN Transmission Modes
Polled Mode By a remote-transmission-request telegram the connected host calls for the
current process value. The inclinometer reads the current position value,
calculates eventually set-parameters and sends back the obtained process
value by the same identifier.
Cyclic Mode The inclinometer transmits cyclically - without being called by the host - the
current process value. The cycle time can be programmed in milliseconds
for values between 1 ms and 65536 ms.
Sync Mode After receiving a sync telegram by the host, the inclinometer answers with
the current process value. If more than one node number (encoder) shall
answer after receiving a sync telegram, the answer telegrams of the nodes
will be received by the host in order of their node numbers. The
programming of an offset-time is not necessary. If a node should not answer
after each sync telegram on the CAN network, the parameter sync counter
can be programmed to skip a certain number of sync telegrams before
answering again.
Heartbeat-Function A node signaled his communication status by transmiting cyclically a
heartbeat message. This message could receives one, divers or each
member (Heartbeat Consumer) in the bus and so they can control the
dedicated node(Heartbeat Producer).