Siko MSA501, User Manual, Page: 25 / 51

Communication via
CAN bus (CANopen)
MSA501
Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 25 of 51
Name Description see
page
5F0Ah: Node-ID and baud rate
Bus CAN Setting of Node ID and baud rate 42
6000h: Operating Parameters Setting of scaling and sense of rotation 45
6003h: Preset value
(Calibration value) Setting the calibration value 46
6004h: Position value position value (offset with calibration and offset
value) 46
6005h: Resolution Setting of the resolution 46
6030h: Velocity value Velocity value 47
6200h: Zyklus Timer Identical with object 1800h, sub-index 5 47
6500h: Operating Status Output of scaling and sense of rotation 48
6501h: Measuring step The physical number of measurement steps per
revolution 48
6502h: Number of
distinguishable revolutions Number of revolutions the encoder is able to sense 49
6507h: Profile and Software
Version Indicates the version number of the device profile
used and the version number of the encoder’s
firmware 49
6508h: Operating Time Hourmeter (function is not supported) 49
6509h: Offset value Encoder state at the time of calibration 50
650Ah: Module Identification Indicates the Manufacturer-specific offset value as
well as the smallest and largest transferable
position value 50
650Bh: Serial number Indicates the serial number 51
Table 17: Overview of objects
5.6.2 Object description
5.6.2.1 1000h: Device Type
Object 1000h indicates the device profile number.
Sub-index 00h
Description Information on device profile and device type
Access ro
PDO mapping no
Data type UNSIGNED 32
Default 00080196h
EEPROM no
Data content Device profile number Encoder type
Byte 0 Byte 1 Byte 2 Byte 3
96h 01h 08h 00h