ifm electronic RN7003 - Manual (Page 20)

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