ifm electronic RM9000 - Manual (Page 11)

UK
CANopen encoder
11
6.3.5 Restoring the parameters
The factory-set parameters can be restored� The settings stored in the EEPROM
are not overwritten� Only after the storage command has been sent again will the
default settings be stored in the EEPROM non-volatilely� The restored parameters
are identical for each CANopen encoder of this type and may possibly not
correspond to the original parameters� Please check the restored parameters with
regard to their validity before you perform the storage process again�
6.3.6 Layer Setting Service (LSS)
To configure the encoder via LSS, the encoder is handled like a slave� The
controller must have LSS master functionality� The LSS master device requests
the data of the encoder� The LSS master enquires the LSS information (vendor ID;
product code, revision number, serial number) of the slave� In this case the slave
is unambiguously recognised and the settings, node number and baud rate can be
set�
7 Programmable parameters
The objects are based on the device profile CiA 406 DS V3�2: CANopen profile for
encoders (www�can-cia�org)
Detailed description of the command byte
Command Data length Data type
43h 4 bytes unsigned 32
47h byte 3 unsigned 24
4Bh byte 2 unsigned 16
4Fh 1 byte unsigned 8
23h 4 bytes unsigned 32
27h byte 3 unsigned 24
2Bh byte 2 unsigned 16
2Fh 1 byte unsigned 8
7.1 Object directory
Data is transferred according to CAL exclusively via object-oriented message
telegrams� These objects are classified into groups via an index register� Each
index entry can be further subdivided via a sub index� The complete overview of
the standard object directory is shown in the following table�
Index (hex) Object
0000 not used
0001-001F static data types
0020-003F complex data types