ifm electronic RN7003 - Manual (Page 22)

CANopen encoder
22
Bit Parameter
1 no indication
2 scaling function control
3���14 no indication
15 read position at SYNC
Operating parameters (object 0x6000)
Diagnosis of the encoder 6.11.1
The diagnosis of the encoder can be read by the objects 65xxh� The operating
status, alarm and warning diagnosis is described in the following chapters� For a
complete overview of the supported diagnosis please refer to the EDS file�
Operating status 6.11.2
In the object 6500h the operating status can be read� The function for each bit
corresponds to the operating parameters, see chapter 6�4�
In the operating status the scaling function control (bit 2) is set depending on the
setting in the operating parameters� In addition, the actual scaling values used in
the encoder can be read as diagnosis, object 6501h (singleturn resolution) and
object 6502h (multiturn resolution)�
Alarms and warnings 6.12
If an internal alarm is detected by the encoder, it automatically passes into the
pre-operational status� A COB-ID EMCY message (object 0x1014h) is transmitted
by the encoder� This message transmits the alarm type occurred� To return to the
operating status an NMT command must be transmitted� The encoder supports the
following alarms�
Bit Supported alarms
0 position error
1-11
12
E2prom error
13���15
Alarms (object 0x6506/0x6505)
Bit Supported warnings
0
1
lighting control
2 watchdog