6�9�2 Pdo Configuration Example - IFM Efector 400 RM7 Series Device Manual

CANopen encoder
6.9.2 PDO configuration example
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
1 0
2 60F
3 60F
4 60F
5 60F
6 60F
7 60F
8 0
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�
20
Data
80 0F
23 00 18 01 8F 01 00 80 Set PDO1 to not valid and COB-
2F 00 1A 00 00 00 00 00
23 00 1A 01 20 00 04 60
23 00 1A 02 10 01 30 60
2F 00 1A 00 02 00 00 00
23 00 18 01 8F 01 00 00
01 0F
Note
Set the encoder in the NMT
mode pre-operational
ID to 0x18F
Set the subindex 0 to 0 to
transmit "transmit PDO mapping
parameter" (mapping deactiva-
ted)
Map position (object 0x6004) to
the first position in the PDO
Map speed (object 0x6030) to
the second position in the PDO
Set the subindex 0 "transmit
PDO mapping parameter" to 2
(number of objects mapped in
the PDO)
Set PDO1 to valid and COB-ID
to 0x18F
Set the encoder if it is in the
NMT mode operational