Bei-sensors MHK5 Absolute Hollow Shaft Encoder Instrukcja Użytkownika Pobierz pdf (Strona 13)

Version 07/10 BEI Sensors CANopen Manual serie M 13

2.2.2 Setting Node Number

If the device has a connector, a cable exit or the

BCD-rotary-switch in the connection cap is set to

“9”, the node number has to be set via SDO

objects. An advantage of setting the node

number via software is, that the whole CANopen

node number span from 1 to 127 can be

addressed. The default node number is 32. To

set node number object 3000h has to be written.

For further information regard chapter 5.5 Object

Dictionary.

Object 3000h: Node Number

Subindex Description Data Type Default Value Access Restore after

BootUp

0 Node Number Unsigned 8 1Fh rw Yes

NOTE: To avoid the node number 0, one will be added to the value of this object!

E.g.: 1Fh+1h = 20h = 32 (dec)

Setting Node Number via LSS

If the device has a connector, a cable exit or the

BCD-rotary-switch in the connection cap is set to

“9”, the node number can be adjusted via Layer

Setting Services (LSS). For further information

regard chapter 4.5

2.2.3 Setting Baud Rate

If the device

has a connector, a cable exit or the

BCD-rotary-switch in the connection cap is set to

“9”, the baud rate has to be adjusted via SDO

objects. The default baud rate is 20 kBaud. To

set baud rate object 3001h has to be written. For

further information please regard chapter 5.5

Object Dictionary.

Eight different baud rates are provided. To

adjust the baud rate only one byte is used.

Baudrate in kBit/s Byte

20 00h

50 01h

100 02h

125 03h

250 04h

500 05h

800 06h

1000 07h

Object 3001h: Baudrate

Subindex Description Data Type Default Value Access Restore after

BootUp

0 Baudrate Unsigned 8 0h rw yes

1 2 ... 8 9 10 11 12 13 14 15 16 17 18 ... 76 77

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