ifm electronic RM9000 - Manual (Page 12)

CANopen encoder
12
Index (hex) Object
0040-005F manufacturer-specific data types
0060-0FFF reserved
1000-1FFF area of the communication profile
2000-5FFF manufacturer-specific area
6000-9FFF device-specific area
A000-FFFF reserved
7.2 Programming example: preset value
The receipt of the SDO answer is to be monitored in the program since the request
is sent permanently without confirmation of receipt�
If a CANopen device is connected to the bus and configured with correct baud rate
and node number, it replies to the bus with a boot up message�
7.2.1 Set preset value (master to encoder with node number 1)
Set preset value (value 1000)
Identifier DLC Command Index Sub index Service data
NN 1 download 6003h byte 4 byte 5 byte 6 byte 7
601 8 23h 03h 60h 00h 00h 10h 00h 00h
Response from the encoder
Identifier DLC Command Index Sub index Service data
NN 1 download 6003h byte 4 byte 5 byte 6 byte 7
581 8 60h 03h 60h 00h 00h 00h 00h 00h
Read preset value from the encoder
Identifier DLC Command Index Subindex Service data
NN 1 download 6003h byte 4 byte 5 byte 6 byte 7
601 8 40h 03h 60h 00h 00h 00h 00h 00h
Response from the encoder
Identifier DLC Command Index Sub index Service data
NN 1 download 6003h byte 4 byte 5 byte 6 byte 7
581 8 43h 03h 60h 00h 00h 10h 00h 00h