ifm electronic RM9000 - Manual (Page 8)

CANopen encoder
8
6 Configuration
This chapter describes the configuration of the parameters of an absolute encoder
with CANopen interface�
6.1 Operating modes
6.1.1 General information
In the preoperational mode the encoder replies to the CAN bus after sending its
boot up message�
Boot up message: 700 hex + node number (further details in the Communication
Profile chapter 7�3�)
► Change parameters only in the preoperational mode�
This mode decreases the bus load and simplifies the control of the messages sent
and received� It is not possible to send or receive PDO messages in this mode�
6.1.2 Preoperational mode
To set the encoder to the preoperational mode, the master must send the following
message:
Identifier Byte 0 Byte 1 Description
0 h 80 h 00 NMT PreOp, all nodes
0 h 80 h NN NMT PreOp, NN
NN: node number
It is possible to set all nodes (byte 1 = 0) or individual nodes (byte 1 NN) to the
preoperational mode�
6.1.3 Start-operational mode
To set the encoder to the operational mode, the master must send the following
message:
Identifier Byte 0 Byte 1 Description
0 h 01 h 00 NMT start, all nodes
0 h 01 h NN NMT start, NN
NN: node number
It is possible to set all nodes (byte 1 = 0) or individual nodes (byte 1 NN) to the
operational mode�