Bei-sensors MHK5 Absolute Hollow Shaft Encoder User Manual

Version 07/10 BEI Sensors CANopen Manual serie M 1 Main Features - Compact and heavy-duty industrial design - Interface: CANopen / CAN - H

Version 07/10 BEI Sensors CANopen Manual serie M 10 LED grün green LED grün /green Err Sta 2.1.4 Setting Baudrate in Connection Cap The adjusting

Version 07/10 BEI Sensors CANopen Manual serie M 11 CAN Run LED State Description Flickering AutoBitrate/ LSS The auto-bitrate detection is in

Version 07/10 BEI Sensors CANopen Manual serie M 12 2.2 Installation of Connector and Cable encoders The new encoders with cable or connector exit

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

Version 07/10 BEI Sensors CANopen Manual serie M 14 Setting Baud Rate via LSS If the device has a connector, a cable exit or the BCD-rotary-switch i

Version 07/10 BEI Sensors CANopen Manual serie M 15 3. Technical Data In the following section you will find general technical datas for absolute ro

Version 07/10 BEI Sensors CANopen Manual serie M 16 Friction torque  3 Ncm (without shaft sealing) Singleturn: max. 12,000 RPM RPM (continuous ope

Version 07/10 BEI Sensors CANopen Manual serie M 17 4. Configuration The purpose of this chapter is to describe the configuration parameters of the

Version 07/10 BEI Sensors CANopen Manual serie M 18 4.1.4 Mode: Stopped To put one or all nodes in the stopped state, the master have to send the fo

Version 07/10 BEI Sensors CANopen Manual serie M 19 4.3 Storing Parameter 4.3.1 List of storable Parameter Object Index Object Description 1005h

Version 07/10 BEI Sensors CANopen Manual serie M 2 Table of Contents General Security Advise...4About this Manu

Version 07/10 BEI Sensors CANopen Manual serie M 20 4.3.1 Storing Procedure The parameter settings can be stored in a non-volatile E2PROM. The param

Version 07/10 BEI Sensors CANopen Manual serie M 21 Object 1018h: Identity Object (LSS-address) Subindex Description Data Type Default Value Ac

Version 07/10 BEI Sensors CANopen Manual serie M 22 5. Programmable Parameters Objects are based on the CiA 406 DS V3.2: CANopen profile for encoder

Version 07/10 BEI Sensors CANopen Manual serie M 23 The data transmission according to CAL is realized exclusively by object oriented data messages.

Version 07/10 BEI Sensors CANopen Manual serie M 24 Identifier DLC Command Index Subindex Service/Process data NN 1 Download 6003h Byte

Version 07/10 BEI Sensors CANopen Manual serie M 25 5.2 Communication Profile DS301 specific objects from 1000h - 1FFFh In this manual we refer to t

Version 07/10 BEI Sensors CANopen Manual serie M 26 5.3 Manufacturer specific objects 2000h – 5FFFh Object Description Page Hand-Book 2000h Posi

Version 07/10 BEI Sensors CANopen Manual serie M 27 6300h Cam state register 49 30 6301h Cam enable register 49 32 6302h Cam polarity registe

Version 07/10 BEI Sensors CANopen Manual serie M 28 Object 1001h: Error Register This object is used by the device to display internal faults. When

Version 07/10 BEI Sensors CANopen Manual serie M 29 Subindex Description Data Type Default Value Access Restore after BootUp 0 - Unsigned 32 8

Version 07/10 BEI Sensors CANopen Manual serie M 3 Object 2200h: Cyclic Timer PDO ...40Object 2300h: Save Parameter with Res

Version 07/10 BEI Sensors CANopen Manual serie M 30 Subindex Description Data Type Default Value Access Restore after BootUp 0 - Unsigned 16 0

Version 07/10 BEI Sensors CANopen Manual serie M 31 0 Number of sub indices Unsigned 8 2 ro no 1 Restore all parameters Unsigned 32 “load”

Version 07/10 BEI Sensors CANopen Manual serie M 32 Object 1016h: Consumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat

Version 07/10 BEI Sensors CANopen Manual serie M 33 Object 1020h: Verify configuration This object indicates the downloaded configuration date and

Version 07/10 BEI Sensors CANopen Manual serie M 34 Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub

Version 07/10 BEI Sensors CANopen Manual serie M 35 16-bit field, the transmit PDO is always sent after the "event timer" expires. The val

Version 07/10 BEI Sensors CANopen Manual serie M 36 Object 1F51h: Program Control This is a special bootloader object, that has functionality for si

Version 07/10 BEI Sensors CANopen Manual serie M 37 PDO with every change of the position value. Due to this, there will be generated a large amount

Version 07/10 BEI Sensors CANopen Manual serie M 38 This parameter is used to program the desired number of measuring units over the total measuring

Version 07/10 BEI Sensors CANopen Manual serie M 39 Object 2104h: Limit Switch, min. Two position values can be programmed as limit switches. By r

Version 07/10 BEI Sensors CANopen Manual serie M 4 General Security Advise Important Information Read these instructions carefully, and look at th

Version 07/10 BEI Sensors CANopen Manual serie M 40 Function Statusbits Process value Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14

Version 07/10 BEI Sensors CANopen Manual serie M 41 0 Access code Unsigned 32 55AAAA55h wo no Object 3000h: Node Number This object contains t

Version 07/10 BEI Sensors CANopen Manual serie M 42 Subindex Description Data Type Default Value Access Restore after BootUp 0 Terminal resist

Version 07/10 BEI Sensors CANopen Manual serie M 43 0h Number of sub indices Unsigned 8 2h Ro 1h Enable Acceleration Unsigned 8 0h rw Yes

Version 07/10 BEI Sensors CANopen Manual serie M 44 Subindex Description Data Type Default Value Access Restore after BootUp 0h Bootloader Con

Version 07/10 BEI Sensors CANopen Manual serie M 45 SFC: Scaling function (0 = disable, 1 = enable) CD: Commissioning diagnostic control (not av

Version 07/10 BEI Sensors CANopen Manual serie M 46 0h Process Value Unsigned 32 - romap yes Hardwired with Object 2000h. Object 6030h: Speed

Version 07/10 BEI Sensors CANopen Manual serie M 47 5. The TPDO mapping Parameter 0 (1A01) has to be enabled, by setting the Number of entries (1A01

Version 07/10 BEI Sensors CANopen Manual serie M 48 Object 6200h: Cyclic timer This object contains the value of the event timer of the correspondi

Version 07/10 BEI Sensors CANopen Manual serie M 49 BootUp 0h Number of sub indices Unsigned 8 1h ro 1h Cam polarity channel 1 Unsigned 8 0

Version 07/10 BEI Sensors CANopen Manual serie M 5 1. Introduction This manual explains how to install and configure the OPTOCODE II absolute rota

Version 07/10 BEI Sensors CANopen Manual serie M 50 1h VAR Cam2 high limit channel1 rw 6322h Cam3 high limit rw 0h VAR Highes

Version 07/10 BEI Sensors CANopen Manual serie M 51 1h VAR Cam6 hyteresis channel1 rw 6336h Cam7 hyteresis rw 0h VAR Highest sub-i

Version 07/10 BEI Sensors CANopen Manual serie M 52 r 0 Reserved Object 6401h: Work area low limit This object indicates the position value, at

Version 07/10 BEI Sensors CANopen Manual serie M 53 Object 6501h: Single-turn resolution The object contains the physical measuring steps per revolu

Version 07/10 BEI Sensors CANopen Manual serie M 54 Object 6504h: Supported alarms The object shall provide the supported alarms of the device. Plea

Version 07/10 BEI Sensors CANopen Manual serie M 55 Object 6506h: Supported warnings The object provides the supported warnings of the device. Pleas

Version 07/10 BEI Sensors CANopen Manual serie M 56 Object 6509h: Offset value This object contains the offset value. It is been calculated by the

Version 07/10 BEI Sensors CANopen Manual serie M 57 6. Troubleshooting 6.1 Power on – Encoder doesn’t respond Problem: The bus is active but the i

Version 07/10 BEI Sensors CANopen Manual serie M 58 7. Mechanical Drawings Synchro flange (S)Two versions available Clamp flange

Version 07/10 BEI Sensors CANopen Manual serie M 59 Hollow shaft (B) * Edelstahl / Stainless steel20°Ø632072Single-Turn=100 , Multi-Turn=1121,33,3A

Version 07/10 BEI Sensors CANopen Manual serie M 6 the device. It is unique on a bus. The function code varies according to the type of message bein

Version 07/10 BEI Sensors CANopen Manual serie M 60 Connection cap AH58-B1CA-1BW, 5pin round connector M12, Micro style Connection cap AH58-B1CA-2

Version 07/10 BEI Sensors CANopen Manual serie M 61 Synchroflange (S) Two versions available Cable exit (cable diameter = 8 mm ) Clampflange (C10) C

Clampflange (C), 9 pin D-Sub connector Synchroflange (S), 9 pin connector The dimensions of encoder housing in the versions cable exit, 12 pin

Blind shaft (B) Cable exit (cable diameter = 8 mm) or 5 pin M12 connector Mounting instructions The clamp ring should only be tightened if the

Version 07/10 BEI Sensors CANopen Manual serie M 64 Heavy Duty version with solid shaft Clamp flange as well as synchro flange with 10mm shaft avail

Version 07/10 BEI Sensors CANopen Manual serie M 65 Appendix A: Order Codes Description Type key Optocode MHM5-MHK5-MHO5 CA A1 B - _ _ _ _ -

Version 07/10 BEI Sensors CANopen Manual serie M 66 Connection caps All connections caps are equipped with a switchable terminal resistor, integrate

Version 07/10 BEI Sensors CANopen Manual serie M 67 Accessories and documentation Description Drilling: 10 mm / 10 mm Drilling: 6 mm / 6 mm Shaft

Version 07/10 BEI Sensors CANopen Manual serie M 68 Appendix B: History and Compatibility History encoder generations This chapter gives you inform

Version 07/10 BEI Sensors CANopen Manual serie M 69  Singleturn  10196h  Mutliturn  20196h 3.5 Restore Command In the past the restore com

Version 07/10 BEI Sensors CANopen Manual serie M 7 2. Installation 2.1 Connection via Connection Cap 2.1.1 Signal Assignment The rotary encoder is

Version 07/10 BEI Sensors CANopen Manual serie M 70 Version history connection cap In particular the design of the connection cap is improved. Easie

Version 07/10 BEI Sensors CANopen Manual serie M 71 Polling in Pre-Operational state The old generation has accepted polling requests in pre-operati

Version 07/10 BEI Sensors CANopen Manual serie M 72 Beside the set up via hardware there is also the possibility to set up the protocol via SDO obj

Version 07/10 BEI Sensors CANopen Manual serie M 73 Appendix C: Glossary A Address Number, assigned to each node, irrespective of whether it is a

Version 07/10 BEI Sensors CANopen Manual serie M 74 F FAQ Frequently Asked Questions FC Function code. Determines the type of message sent v

Version 07/10 BEI Sensors CANopen Manual serie M 75 SDO Communication object, with a low priority for messaging (configuration, error handling, di

Version 07/10 BEI Sensors CANopen Manual serie M 76 Appendix D: List of tables Tab. 1 Signal Assignment Connection Cap ...

Version 07/10 BEI Sensors CANopen Manual serie M 77 2.2 21.05.04 New inner diameter of the cable glances 2.3 24.09.04 SubIndex of RestoreAllPa

Version 07/10 BEI Sensors CANopen Manual serie M 8 ONTRTONRBus InBus OutGG+- LHRONTLHBus Connection The connection cap fulfills the function of a T-

Version 07/10 BEI Sensors CANopen Manual serie M 9 2.1.3 Setting Node Number in Connection Cap The setting of the node number is done by turning th