7�2 Object 0X5A03, Serial Number 2; Example Encoder Configuration - IFM Efector 400 RM7 Series Device Manual

CANopen encoder
7.2 Object 0x5A03, serial number 2
The object 0x5A03 is a manufacturer-specific object where the serial number can
be read�
8

Example encoder configuration

This example shows a simple set-up of the encoder for the cyclic transmission of
the position value�
1� Set the physical address (node number) of the encoder using the address
switches� You can find more information in chapter 4�
2� Ensure that the baud rate of your CANopen network and the baud rate of the
encoder are the same� You can find more information regarding the baud rate
setting of the encoder in chapter 4�4�
3� Switch on the encoder�
4� The encoder transmits a boot message in the default emergency identifier (ID =
128 + encoder address)� The message has no data bytes�
5� The next step is to configure the encoder via the SDO message� To set a cyclic
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
0x22 0x00
SDO request message
6� For the set-up of the encoder you have to transmit an NMT "start remote
node" message which consists of ID = 0 and two data bytes with the following
contents:
Byte 0
0x01 encoder address (node number)
NMT "start remote node" message
7� The encoder is now in the operating status and the position message (ID = 384
+ 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)�
24
Byte 2 Byte 3
0x62 0x00
Byte 1
Byte 4 Byte 5
0x0A 0x00
Byte 6 Byte 7
0x00 0x00