Configuration; 6�1 Operating Modes; 6�1�1 General Information; 6�1�2 Preoperational Mode - IFM RM8004 Device Manual

CANopen encoder

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
0 h
0 h
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
0 h
0 h
NN: node number
It is possible to set all nodes (byte 1 = 0) or individual nodes (byte 1 NN) to the
operational mode�
8
Byte 0
80 h
80 h
Byte 0
01 h
01 h
Byte 1
00
NN
Byte 1
00
NN
Description
NMT PreOp, all nodes
NMT PreOp, NN
Description
NMT start, all nodes
NMT start, NN