ifm electronic RN7003 - Manual (Page 24)

CANopen encoder
24
Object 0x5A03, serial number 2 7.2
The object 0x5A03 is a manufacturer-specific object where the serial number can
be read�
Example encoder configuration 8
This example shows a simple set-up of the encoder for the cyclic transmission of
the position value�
Set the physical address (node number) of the encoder using the address 1�
switches� You can find more information in chapter 4�
Ensure that the baud rate of your CANopen network and the baud rate of the
2�
encoder are the same� You can find more information regarding the baud rate
setting of the encoder in chapter 4�4�
Switch on the encoder�
3�
The encoder transmits a boot message in the default emergency identifier (ID = 4�
128 + encoder address)� The message has no data bytes�
The next step is to configure the encoder via the SDO message� To set a cyclic
5�
transmission of the position value with a repetition rate of 10 ms it is necessary
to transmit an SDO request message (ID = 1536 + encoder address) to the
cyclic timer object (object 6200h) with the data below� The encoder confirms
with the SDO response message (ID = 1408 + encoder address)�
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
0x22 0x00 0x62 0x00 0x0A 0x00 0x00 0x00
SDO request message
For the set-up of the encoder you have to transmit an NMT "start remote 6�
node" message which consists of ID = 0 and two data bytes with the following
contents:
Byte 0 Byte 1
0x01 encoder address (node number)
NMT "start remote node" message
The encoder is now in the operating status and the position message (ID = 384 7�
+ encoder address) is transferred with a repetition rate of 10 ms� If an error
occurs, the encoder transmits an emergency message (ID = 128 + encoder
address)�