IFM Efector 400 RM7 Series Application guide

Device manual
Encoder with CANopen
interface
RM7xxx
RN7xxx
704434/01 08 / 2010
UK

CANopen encoder
2
Contents
1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
1�1 Symbols used� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
1�2 Warning signs used � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
3 General information � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�1 Absolute encoders � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�2 CANopen technology � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�2�1 Certification of CANopen products� � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�3 References � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�3�1 Abbreviations � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
4 Installation of the encoder� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
4�1 Settings of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
4�2 Node address � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
4�3 Bus termination � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
4�4 Baud rate switch� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
4�5 Electrical connection of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
4�6 BUS lines � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
4�7 Shield � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
4�8 EDS file � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
4�9 Parameter setting � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
4�10 LED display � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
4�10�1 Module LED � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
4�10�2 Status LED� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
5 Profile overview � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
6 Functionality of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13
6�1 Basic functionality of the encoder� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13
6�2 Default identifiers � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13
6�3 Boot message � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14
6�4 Operating parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15
6�5 Scaling function � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15
6�5�1 Overview � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15
6�5�2 Scaling formulas � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16
6�6 Preset value � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16
6�6�1 Overview � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16
6�6�2 Calculation of the preset value� � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17
6�7 Zero setting � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18
6�8 Speed and acceleration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18
6�9 PDO mapping� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18
6�9�1 PDO configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19
6�9�2 PDO configuration example � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20
6�10 Heartbeat � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 21
6�11 IRT mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 21

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6�11�1 Diagnosis of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 22
6�11�2 Operating status � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 22
6�12 Alarms and warnings � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 22
7 Manufacturer-specific objects� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23
7�1 Object 0x5003, speed type� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23
7�2 Object 0x5A03, serial number 2 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24
8 Example encoder configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24
Licences and trademarks
Microsoft®, Windows®, Windows XP®and Windows Vista®are registered trademarks of Microsoft Corporation�
Adobe®and Acrobat®are registered trademarks of Adobe Systems Inc�
All trademarks and company names are subject to the copyright of the respective companies�

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Preliminary note1
Symbols used1.1
►Instruction
> Reaction, result
[…] Designation of pushbuttons, buttons or indications
→Cross-reference
Important note
Non-compliance can result in malfunctions or interference�
Information
Supplementary note
Warning signs used1.2
ATTENTION
Warning of damage to property�
Safety instructions2
This manual is part of the device� It contains information and illustrations about the
correct handling of the device and must be read before installation or use�
Observe the operating instructions�
Non-observance of the instructions, operation which is not in accordance with use
as prescribed below, wrong installation or handling can affect the safety of people
and machinery�
The installation and connection must comply with the applicable national and
international standards� Responsibility lies with the person installing the unit�
Only the signals indicated in the technical data or on the device label may be
supplied to the connections or wires�

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General information3
Absolute encoders3.1
For an absolute encoder each angular position is assigned a coded position value�
This is generated by a coded disc with several parallel fine code segments which
are detected individually� For singleturn encoders, i�e� an encoder producing
absolute positions within one revolution, the absolute position information is
repeated with every revolution� A multiturn encoder can also distinguish between
revolutions via a gearbox containing magnets which are individually detected
by Hall elements� The number of the individual revolutions is determined by the
resolution of the multiturn detection and is repeated after the total resolution has
been reached�
CANopen technology3.2
The CANopen communication profile is based on the CAN Application Layer
(CAL) specification from CiA (CAN in Automation)� CANopen is considered as a
robust fieldbus with highly flexible configuration options� It is used in many various
applications which are based on different application profiles� CANopen comprises
a concept to configure and communicate real-time data using synchronous and
asynchronous messages� Four message types (objects) are distinguished�
Administration messages (layer management, network management and1�
identifier distribution)
Service data messages (SDO)2�
Process data messages (PDO)3�
Predefined messages (synchronisation, time stamp, emergency)4�
You can find more information in the CANopen specification�
Certication of CANopen products3.2.1
To achieve interoperability and a suitable device functionality CANopen products
are approved by external notified bodies� A copy of the certificate is attached to
this manual�
References3.3
http://www�can-cia�org
CAN Application Layer, DS 201…207 CiA
CAL based communication profile, DS 301 CiA
Device profiles for encoders, DS 406 CiA
CAN specification version 2�0 A Robert Bosch GmbH
CANary CAN controller Atmel

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Abbreviations3.3.1
CAN Controller Area Network
CiA CAN in Automation
CAL CAN Application Layer
EDS Electronic Data Sheet
DCF Device Configuration File
SDO Service Data Object
PDO Process Data Object
TPDO Transmit PDO
COB-ID Communication Object Identifier
NMT Network Management
IRT Isochronous Real Time
Installation of the encoder4
Settings of the encoder4.1
The node address of the encoder, the baud rate and the bus termination must be
configured during the set-up of the device� This is done by removing the cover of
the housing on the back�
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switches node address1:
bus termination on/off2:
baud rate switch3:
bus output4:
bus input5:

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supply +U6: B
zero set button7:
screw terminals for bus and power supply connection8:
Node address4.2
The node address of the device can be set via two decimal rotary switches in
the device� The step increment x10 and x1 is specified next to the switches�
The permitted address range is between 3 and 98� The address range 0 to
2 is reserved for the master� Address 0 is used for broadcasting, i�e� master
broadcasting to multiple slaves� Note that each address used in a CANopen
network must be unique and must not be used by other devices�
The device address is read and adopted when the encoder power supply is
switched on (or the NMT command Reset_Communication or Reset_Node)� Both
actions are required to adopt changes to the address settings�
Bus termination4.3
In a CANopen network all devices are connected in a bus structure� Up to 32
devices (masters and/or slaves) can be connected in one segment� If more
devices are needed, repeaters must be used to amplify the signals between the
segments� An active termination must be added at the beginning and end of each
bus segment to ensure an error-free operation� These terminations are integrated
into the device and can be activated via DIP switches�
The active termination is only activated if the encoder is switched on� If the device
is switched off, the CAN_H and CAN_L lines are internally terminated by a 121 Ω
resistor�
Bit 1 Bit 2 Effect
on on 121 ohm resistor between CAN_H and CAN_L
on off no valid setting
off on no valid setting
off off no resistor between CAN_H and CAN_L
Baud rate switch4.4
The communication baud rate can be set using the rotary switch inside the
encoder� The baud rate is set according to the following table�

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Settings baud rate switch
Baud rate [kbits] Baud rate switch
10 0
20 1
50 2
125 3
250 4
500 5
800 6
1000 7
400 8
Electrical connection of the encoder4.5
NOTE
The unit must be connected by a qualified electrician�
Disconnect power before connecting the unit�
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�
Voltage supply U1: B
Function Terminal
+UB(9���36 V DC) +
0 V -
The cable glands of the encoder must always be equipped with a shielded
power supply cable with a wire cross-section between 0�34 mm2and 1�5 mm2�
The permissible outer cable diameter is ø 8���ø 10 mm� Two screw terminals
with the required power supply terminals marked (+) and (-) are located inside
the cover�

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The (+) terminal is used for the connection to the +UBline (9���36 V DC)� The (-)
terminal is used for the connection to the 0 V line�
BUS lines4.6
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bus output1:
bus input2:
Function Terminal
CAN shield cable gland
CAN GND G
CAN_H H
CAN_L L
The cable glands of the encoder must be equipped with a twisted pair cable
according to EN50170� The guidelines recommend a wire cross-section > 0�34
mm2�� The permissible outer cable diameter is ø 6 ��� to ø 8 mm� Six screw
terminals with the required bus line terminals marked H, L and G are in the
terminal chamber�
Connect the (H) terminal to the CAN_H cable�►
Connect the (L) terminal to the CAN_L cable�►
Connect the (G) terminal to the CAN_G cable�►
The G, H and L terminals are internally connected to each other so that
the bus cables can be connected to any pair�

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Shield4.7
To achieve the highest possible noise immunity and electromagnetic compatibility
the bus and power supply cables must always be shielded� The shield must be
connected to ground on both ends of the cable� In certain cases a compensation
current can flow across the shield� Therefore a compensation wire for the potential
is recommended�
EDS file4.8
An EDS file can be downloaded from our website:
→
www�ifm�com
Contents of the EDS file:
communication functions and objects as defined in the CANopen●
communication profile DS-301
device-specific objects as defined in the encoder profile DS-406●
manufacturer-specific objects●
The EDS file serves as a template for different configurations of a device type� A
DCF file is generated by the EDS file and describes a specific configuration of the
device including object values, selected baud rate and module ID�
CANopen configuration tools are available to support the CANopen network
configuration and the device configuration via the CAN bus� The information about
the device is in the EDS file�
The EDS installation process depends on your configuration tool� In case of
problems please contact your controller supplier�
Parameter setting4.9
If the device is in the pre-operational status, the parameters are set by the
configuration tool using the objects in the EDS file� During runtime the parameters
can also be changed (operating status)�

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The position data is directly affected by some parameters and changes
directly after such a parameter message�
Only change scaling function parameters and the code sequence if the shaft is►
stationary�
The parameter setting process depends on your configuration tool� In case
of problems please contact your controller supplier�
LED display4.10
Two LEDs are on the cover of the encoder to indicate the encoder status� The
module LED indicates the status of the module itself� The status LED indicates the
module status on the bus�
The LEDs can be permanently on or out, blink or flash�
Blinking: LED 200 ms on, 200 ms out
Flashing: LED 200 ms on, 1000 ms out (single flashing)
LED 200 ms on, 200 ms out, 200 ms on, 1000 ms out (double flashing)
Module LED4.10.1
The module LED is a two-colour LED with the following functionality:
LED Display
out no voltage supply
green voltage supply ok
red position error, the encoder cannot provide a
correct position value
3 x blinking green, out zero set button pressed and position set to
zero
after blinking three times the LED automati-
cally returns to the previous status
red blinking wrong switch settings

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Status LED4.10.2
The status LED is a two-colour LED with two functions; a green LED (run status)
and a red LED (error status)�
LED Display
green flashing encoder in the NMT status operational
green blinking encoder in the NMT status stopped
green lighting encoder in the NMT status pre-operational
red out no error
red blinking overflow on the error counter
red double blinking guard event or heartbeat event occurred
red lights the encoder is in the bus off status
If the communication of the encoder is error free in the operating status, the
module LED shows green and the status LED flashes green�
Profile overview5
The encoder profile defines the functions of the encoders connected to CANopen�
The operating functions are divided in two device classes:
Class 1
The mandatory class with basic functions which all encoders must support� As an
option, class 1 encoders can support selected functions of class 2� However, these
functions must be implemented according to the profile�
Class 2
The encoder must support all functions of class 1 as well as all functions defined in
class 2�
Functions of class 2
Transmission of the absolute position value with polling, cyclic or SYNC mode�●
Speed and acceleration output values●
Change of the code sequence●
Presettings●
Scaling of the encoder resolution●
Advanced diagnosis
Encoder identification●
Operating status●
Operating time●

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Alarms and warnings●
All programming and diagnostic parameters can be accessed via SDOs� The
output position value of the encoder is represented in binary format�
Functionality of the encoder6
Basic functionality of the encoder6.1
The figure below gives an overview of the basic functions of the encoder and how
they are implemented in the encoder�
Physical position
Basic function
← code sequence
→ singleturn resolution
→ number of distinguishable revolutions
Absolute position
Scaling function
↔ steps per revolution
↔ total measuring range in steps
↔ scaling function control/status
Preset function ← preset value
→ offset value
Output position value
Default identifiers6.2
In order to facilitate configuration a default identifier allocation scheme is defined
for CANopen devices� This ID allocation scheme consists of a functional part
which determines the object priority and a module ID part which is equal to the
node number (1 to 127)� Broadcasting of non confirmed services (NMT and SYNC)
is indicated by a module ID of zero�
For CANopen the 11-bit identifier is set up as follows:
bit no� 0���6 node number
bit no� 7���10 function code
Bit
no.
109876543210
function code node number

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The following broadcast objects with default identifiers are available in the
encoder:
Object Function
code (binary)
Resulting identifier (COB-
ID)
Priority group
NMT 0000 0 0
SYNC 0001 128 0
The following peer-to-peer objects with default identifiers are available in the
encoder:
Object Function code
(binary)
Resulting
identifier (COB-ID)
Priority group
EMERGENCY 0001 129���255 0, 1
PDO1 (tx) 0011 385���511 1, 2
PDO2 (tx) 0101 641���767 2, 3
SDO (tx) 1011 1409���1535 6
SDO (rx) 1100 1537���1663 6, 7
Node guard 1110 1793���1919 -
Boot message6.3
The encoder transmits a boot message after power on and initialisation� This
message uses the default emergency identifier and has no data bytes� With
this message the user can retrieve the transmitting node directly from the used
identifier (COB-ID) as this is a function of the node number → chapter 6.2.

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Operating parameters6.4
Object 6000h, operating parameters, controls the functions for code sequence and
scaling�
Bit Function Bit = 0 Bit = 1 Class 1 Class 2
0 code sequence CW CCW M M
2 scaling function
control
switched off enabled O M
4���11 reserved for further use
12���15 manufacturer-
specific parameters
no
indication
no
indication
O O
The code sequence defines whether increasing or decreasing position values are
provided when the encoder shaft rotates clockwise or counterclockwise (seen on
the shaft)� The control of the scaling function is used for enabling/disabling the
steps per revolution in the object (6001h) and for the complete measuring range in
steps in the object (6001h) (→ chapter 6.5).
If the scaling function bit is set, the scaling parameters affect the output position
value� If the scaling function bit is set to 0, the scaling function is disabled�
Scaling function6.5
Overview6.5.1
With the scaling function the internal numerical value of the encoder is converted
in the software to change the physical resolution of the encoder� The parameters
"steps per revolution" (object 0x6001h) and "total measuring range in steps"
(object 0x6002h) are the scaling parameters which operate with the scaling
function control bit�
For scaling a multiturn encoder the parameter "steps per revolution" must
be transmitted before the parameter "total measuring range in steps"�
The data type for both scaling parameters is 32 (without sign) with a value range
from 1 to 232 (limited by the encoder resolution)� For a 25-bit encoder with a
singleturn resolution of 13 bits the permitted value for "steps per revolution" is
between 1 and 213 (8192)� For the "total measuring range in steps" the permitted
value is between 1 and 225 (33554432)� The scaling parameters are stored in a
non-volatile memory and reloaded at each start-up�

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Format of the singleturn scaling parameters
Byte 3 2 1 0
Bit 31 - 24 23 - 16 15 - 8 7 - 0
Data 231 - 224 223 - 216 215 - 2827- 20
object 6001h - steps per revolution
Format of the multiturn scaling parameters
Byte 3 2 1 0
Bit 31 - 24 23 - 16 15 - 8 7 - 0
Data 231 - 224 223 - 216 215 - 2827- 20
object 6002h - total measuring range in steps
Scaling formulas6.5.2
The scaling function used in the CANopen encoder is limited to a singleturn
resolution within a step� After the download of new scaling parameters the preset
function should be used to set the start point of the encoder�
Only change the scaling function parameters if the shaft is stationary�
In the following formula a 25-bit multiturn encoder with a singleturn resolution of 13
bits is used as an example�
Formula for the multiturn scaling function:
A = (singleturn_position x steps_per_revolution) / 8192
output_position = (revolution_number x steps_per_revolution) + A
Where: singleturn_position = absolute singleturn position value
revolution_number = absolute multiturn number
Preset value6.6
Overview6.6.1
The preset function (object 0x6003h) supports the adaptation of the encoder to the
mechanical zero point or to a preset value� The preset function is used after the
scaling function� The preset value is then provided as a measured value�
A preset value is determined by the encoder as follows:

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The encoder reads the current position value and calculates an offset value from
the preset value and the read position value� The position value is shifted by the
calculated offset value� The offset value can be read with the diagnostic function
(object 6509h), is stored in a non-volatile memory and reloaded at each start-up�
Only use the preset function if the shaft is stationary�
Format of the preset value
Byte 3 2 1 0
Bit 31 - 24 23 - 16 15 - 8 7 - 0
Data 231 - 224 223 - 216 215 - 2827- 20
object 6003h - preset value
Calculation of the preset value6.6.2
An offset value is calculated when the encoder receives the preset value, see the
set-up calculation below� The offset value is then used during runtime to shift the
current position to the required output position, see the runtime calculation below�
In the formulas below the current position is the absolute position of the en-
coder disk after the scaling function� The calculations are made with signed
values�
Set-up calculation: offset_value = preset_value - current_value
A previously set offset value is not included in the current position�
Runtime calculation: output_position = current_position + offset_value

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Zero setting6.7
Two methods can be used for zero setting�
Setting via software
If the preset object is used and the preset value is set to zero (00 00 00 00h), the
encoder is set to zero�
Setting via pushbutton
If the zero set button is pressed for at least 1 second, the position of the encoder is
set to zero (00 00 00 00h)�
Display module LED
Green, out, green, out, green, out to confirm that the position value is set to zero�
Speed and acceleration6.8
The encoder supports the output of the speed object (0x6030) and of the
acceleration object (0x6040)� In order to maintain the accuracy irrespective of the
rotational speed of the encoder different steps can be set� The speed object is
limited to a signed 16-bit value� It is necessary to optimise the assumed rotational
speed of the shaft with regard to the selected resolution to avoid an overflow of
data�
The object 0x5003 (speed type) is a manufacturer-specific object which sets the
update time and resolution (steps / second or rpm) of the speed object (0x6030)
and the acceleration object (0x6040)� The speed type object is described in
chapter 7�1�
PDO mapping6.9
Dynamic PDO mapping enables changes of the objects transmitted in a PDO� The
RM and RN type encoders can map three different objects in the PDOs�
Name Object Subindex Length
Position 0x6004 4 bytes
Speed 0x6030 1 2 bytes
Acceleration 0x6040 1 2 bytes
The encoder has two transmit PDOs� PDO1 (cyclically transmitted by the cyclic
timer) and PDO2 (transmitted on receipt of a SYNC message)� As default both
PDOs are mapped to transmit only position data� Both PDOs can be changed
separately to transmit a combination and sequence of the object above�

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The structure of the entries of the object "transmit PDO mapping parameter" in
subindices 1���3 is as follows:
Byte MSB Byte MSB - 1 Byte LSB + 1 Byte LSB
object subindex object length (number of bits)
PDO conguration6.9.1
To change the PDO mapping the encoder must be in the NMT mode pre-
operational� The PDO must be set to "not valid"� This is done by deleting bit
31 (MSB) in subindex 1 "COB-ID used by PDO" in the object "transmit PDO
communication parameters"�
The PDO "transmit PDO mapping parameter" must be deactivated� To do so, set
the subindex 0 to 0�
To reconfigure the PDO mapping transmit the data of the corresponding object,
the subindex and length of the first object to "transmit PDO mapping parameter"
in subindex 1� Then proceed in the same way for the optional second and third
objects and transmit to "transmit PDO mapping parameter" in subindices 2 and 3�
The "transmit PDO mapping parameter" subindex 0 must be set to the number of
the objects mapped in the PDO (1-3)�
The reconfigured PDO mapping must be set to "valid" by the setting bit 31 (MSB)
in subindex 1 "COB-ID used by PDO" in the object "transmit PDO communication
parameters"� After setting the encoder in the NMT mode operational the
reconfigured PDO mapping is enabled�
The PDO mapping can be stored in the non-volatile EEPROM using the object
0x1010 "store parameter field" (subindex 1 "all parameters" or subindex 2
"communication parameters")�

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PDO conguration example6.9.2
The following chapter shows how to map PDO1 with position and speed (the
address of the encoder is 0x0F, all data in hexadecimal format)�
Step ID Data Note
1 0 80 0F Set the encoder in the NMT
mode pre-operational
2 60F 23 00 18 01 8F 01 00 80 Set PDO1 to not valid and COB-
ID to 0x18F
3 60F 2F 00 1A 00 00 00 00 00 Set the subindex 0 to 0 to
transmit "transmit PDO mapping
parameter" (mapping deactiva-
ted)
4 60F 23 00 1A 01 20 00 04 60 Map position (object 0x6004) to
the first position in the PDO
5 60F 23 00 1A 02 10 01 30 60 Map speed (object 0x6030) to
the second position in the PDO
6 60F 2F 00 1A 00 02 00 00 00 Set the subindex 0 "transmit
PDO mapping parameter" to 2
(number of objects mapped in
the PDO)
7 60F 23 00 18 01 8F 01 00 00 Set PDO1 to valid and COB-ID
to 0x18F
8 0 01 0F Set the encoder if it is in the
NMT mode operational
The mapping of PDO1 is now finished� The PDO1 message can for example be as
follows:
ID Data
18F 4E C9 B2 00 53 01
"4E C9 B2 00" is position data and "53 01" is the speed value�