ifm electronic RM9000 - Manual (Page 6)

CANopen encoder
6
4 Functions and features
● There are 1 SDO server and 2 default value PDOs according to CiA DS 301�
The PDO mapping can be changed (dynamic PDO mapping)� The default value
identifiers have been assigned according to the "predefined connection set" in
the CANopen specification�
● The COB IDs of the PDOs and their baud rate can be configured�
● The module expects a sync object� The CAN identifier of the sync object can
be configured�
● The module supports "node guarding" and "heartbeat"�
● The module supports an emergency object� The COB ID of the EMCY object
can be configured�
● The module stores the last error� The error code of the corresponding
emergency object is stored�
● The module supports the load command (reset function to restore the factory
settings)�
● Alarms and warnings are not displayed�
5 Installation of the encoder
Attention: This product corresponds to the standard EN 61000-6-4� The unit may
cause radio interference in domestic areas� Where applicable, the user has to take
appropriate measures to avoid these�
5.1 Settings of the encoder
► Set the node address of the encoder, the baud rate and the bus termination
before set-up of the device via software�
5.2 Signal assignment
Signal 5-pole M12 connector
1 2
3 4
5
CAN GND pin 1
24 V supply voltage pin 2
GND (PE) pin 3
CAN high pin 4
CAN low pin 5
► Use screened cable�