Siko MSA501, Руководство пользователя

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Communication via
CAN bus (CANopen)
MSA501
Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 41 of 51
Subindex 01h
Description 1st object of the PDO2 message (data byte 0+1)
Access rw
PDO-Mapping no
Data type UNSIGNED 32
Default 60040020h (Position data Objekt 6004h, Subindex 00h, 32bit)
EEPROM yes
Subindex 02h
Description 2nd object of the PDO2 message (data byte 2 to 5)
Access rw
PDO-Mapping no
Data type UNSIGNED 32
Default 60300110h (speed object 6030h, sub-index 01h, 16bit)
EEPROM yes
5.6.2.22 5115h: Calibrate encoder value
With object 5115h, calibration can be executed or it informs whether calibration is executed.
Subindex 00h
Description This object enables “zeroing” of the measured value. This serves for setting
the position value to the object
6003h: Preset value (Calibration value)
written calibration value.
Position value = measured value + calibration value
Access rw
PDO-Mapping no
Data type UNSIGNED 8
Default 0h
EEPROM yes
Data content Object 5115h Read:
0, 1 In case of a read access, 0h is returned when no zeroing is
ongoing. 1h is returned with ongoing calibration.
Objekt 5115h Write:
1
Writing of the value 1h sets the position value to the calibration
value.