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POSI+ CANOPEN USER MANUAL

Page 14 Version 1.02

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4. Communication objects 1000h to 1FFFh (DS 301)

Introduction This section lists the objects relating to the communication. Each object, with all its

technical characteristics, is described according to the CANopen standard.

EDS File : PHM5V102.EDS Standard Encoder, Device Name (1008h) = POSI+

(EDS File : PHM5SFV102.EDS for the compatibility with old encoder SHM5,SHU9,MHM5

Device Name = POSI+SF, not for new designs, objects description in Appendix)

Format:

U8 : Unsigned 8 bits

U16 : Unsigned 16 bits

U32 : Unsigned 32 bits

Access:

RO : Read Only

RW : Read Write

Object

SubIndex

Name Format Access Default Save Description

1000

DeviceType U32 RO

multiturn

00020196h

monoturn

00010196h

Encoder type: Bytes 0,1

0001:Monoturn 0002:Multiturn Profil

Bytes 2,3: 0196h=406

1001

ErrorRegister U8 RO 00h

Bit0 = Generic error

Bit4 = Communication error

1003 pre-defined error field Contains the last error

1003

Number of actual errors U8 RW 00h

Number of stored messages 0 or 1

Write 0 to reset the counter

1003

New, actual error U32 RO ########

Last Error

1000h Generic error

8130h Life Guard error or Heartbeat

error

1005

COB-ID SYNC Message U32 RW 00000080h Yes COB ID of the sync object

1008

DeviceName STR CONST POSI+

Name : POSI+ (standard)

Name : POSI+ SF for compatibility

with SHM5/MHM5 see Appendix

100C

GuardTime U16 RW 0000h Yes Timer for nodeguarding

100D

LifeTimeFactor U8 RW 00h Yes Multiplication of Guard time

1010 StoreParameters Save parameters to encoder

1010

LargestSupportedSubindex U8 RO 01h No. of save possibilities 1

1010

SaveAllParameters U32 RW 00000001h ="evas " (0x65766173) to save

1011 RestoreDefaultParameters

Restore default parameters from

the encoder

1011

LargestSupportedSubindex U8 RO 01h No. of restore possibilities = 1

1 2 ... 9 10 11 12 13 14 15 16 17 18 19 ... 33 34

POSI+ CANOPEN USER MANUAL 1

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