ifm electronic RM9000 - Manual (Page 2)

CANopen encoder
2
Contents
1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
1�1 Symbols used� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
1�2 Warning signs used � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
3 General information � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�1 CANopen technology � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�1�1 Supported operating modes� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�2 References� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
4 Functions and features � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5 Installation of the encoder� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�1 Settings of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�2 Signal assignment � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�3 Setting of the node number � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
5�3�1 Setting of the node number via SDO objects� � � � � � � � � � � � � � � � � � � 7
5�3�2 Setting of the baud rate via SDO objects� � � � � � � � � � � � � � � � � � � � � � 7
5�3�3 Setting the node number and the baud rate via LSS � � � � � � � � � � � � � 7
5�3�4 Bus termination � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
5�4 LED indications � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
6 Configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
6�1 Operating modes � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
6�1�1 General information � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
6�1�2 Preoperational mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
6�1�3 Start-operational mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
6�1�4 Start/stop mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
6�1�5 Reinitialisation of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
6�2 Standard operation (CAN transmission modes)� � � � � � � � � � � � � � � � � � � � � 9
6�3 Storing parameters� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
6�3�1 Object directory � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
6�3�2 Saving process � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
6�3�3 Storing without reset � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
6�3�4 Storing with reset � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
6�3�5 Restoring the parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
6�3�6 Layer Setting Service (LSS)� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
7 Programmable parameters� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
7�1 Object directory � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
7�2 Programming example: preset value � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
7�2�1 Set preset value (master to encoder with node number 1) � � � � � � � 12
7�3 Communication-specific objects of the DS301 from 1000h to 1FFFh
(communication profile DS301 V4�02) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13
7�4 Manufacturer-specific objects from 2000h to 5FFFh � � � � � � � � � � � � � � � � 19
7�5 Device-profile-specific objects from 6000h to 9FFFF� � � � � � � � � � � � � � � � 23