Siko MSA501, User Manual

Page: 46 / 51

Communication via
CAN bus (CANopen)
MSA501
Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 46 of 51
5.6.2.28 6003h: Preset value (Calibration value)
Via object 6003h, the position value of the encoder can be set to a calibration value with
calibration. Position value = measured value + calibration value (see chapter
4.2 Calibration
)
Subindex 00h
Description Calibration data
Access rw
PDO-Mapping no
Data type SIGNED 32
Default 0h
EEPROM yes
Data content -2047999d … 2047999d (FFE0C001h…001F3FFFh)
5.6.2.29 6004h: Position value
Object 6004h indicates the actual position value of the device.
Subindex 00h
Description Position data
Access ro
PDO-Mapping yes
Data type SIGNED 32
Default 0h
EEPROM no
Position value = measured value + calibration value
5.6.2.30 6005h: Resolution and velocity step width
Resolution and velocity step width are defined via object 6005h.
Subindex 00h
Description indicates the largest supported sub-index
Access ro
PDO-Mapping no
Data type UNSIGNED 8
Default 2h
EEPROM no