User Manual

POSI+ CANOPEN USER MANUAL
Page 20 Version 1.02
BEI IDEACOD SAS
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5 Manufacturer-specific objects 2000h to 5FFFh
Object
SubIndex
Name Format Access Default Save Description
2002
0
Speed I16 RO No
Speed of the encoder shaft
Number of physical impulses with a
time period of 5 ms
2005 PDO-Type U8 RW 00h
Yes
(1.02)
Types for PDO1 and PDO2
Bit 3..0 = PDO1 Bit 7..4=PDO 2
0 (Default):Byte 0 .. Byte3 of PDO =
Value of position
2 (Type 2):Byte 0 .. Byte3 of PDO =
Value of position
Byte 4 .. 5 of PDO = Speed
Byte 6 .. 7 of PDO = 0x00 0x00
2100
0
Transmission Rate U8 RW 01h Yes
After setting the baud rate, the
EEPROM must be saved and
reinitialized
0=10 kBit/s
1=20 kBit/s (default)
2=50 kBit/s
3=100 kBit/s
4=125 kBit/s
5=250 kBit/s
6=500 kBit/s
7=800 kBit/s
8=1000 kBit/s
2101
0
Node Number U8 RW 01h Yes
Node number 1..127 possible After
setting the baud rate, the EEPROM
must be saved and reinitialized.
Object 2002h: Speed
Only for standard encoder with software version >=1.01 : DeviceName (1008h) = « POSI+ » ,
Software Version (6507h) >= 0x0101
CMS Index Default value Valu e range Data length
SDO 2002h Signed 16
Description To measure the rotational speed of the encoder shaft, the difference between two
physical (unscaled) values of position with a time period of 5 ms is calculated. The difference
between the two values will be read out as a signed 16 bits value (positive value = clockwise
direction of rotation ).
The output of the speed by means of PDO i s made possible by setti ng the desired PDOs to typ e 2
(see object 2005h).
Object 2005h: PDO Type
Only for standard encoder with software version >=1.01 : DeviceName (1008h) = « POSI+ » ,
Software Version (6507h) >= 0x0101
CMS Index Default value Valu e range Data length
SDO 2005h 00h Unsigned 8
This object helps to determine the typ es for PDO1 and PDO2.