turck BL20 - Page 282

BL20 - Communication in CANopen
D301087 0308 - BL20 CANopen4-210
Object 5802
hex
– Encoder Status
Object 5802
hex
supplies the following status messages:
 Direction forwards
 Direction backward
 Status DO2
 Status DO1
 Status DI
 Counting/measuring running
Structure of the data bytes in count mode:
X = reserved
Table 144:
Objects 5802
hex
Feature Description
Name Encoder status
Object code ARRAY
PDO-mapping No
Sub-index 00
hex
Data type Unsigned8
Access ro
Default value No
Sub-index 01
hex
- 47
hex
Data type Unsigned8
Access ro
Default value No
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte 0
(Status)
STS_
DN
STS_
UP
X STS_
DO2
STS_
DO1
XSTS_
DI
STS_
GATE