IFM RM8004, Device Manual

Page: 10 / 35

CANopen encoder
10
Object Index Object description
1017h producer heartbeat time
1020h verify configuration
1800h communication parameter PDO 1
1801h communication parameter PDO 2
1A00h transmit PDO1 mapping parameter
1A01h transmit PDO2 mapping parameter
2100h operating parameters
2101h resolution per revolution
2102h total resolution
2103h preset value
2104h limit switch, min�
2105h limit switch, max�
2160h customer storage
2200h cyclic timer
3000h node number (NN)
3001h baud rate
6000h operating parameter
6001h steps per revolution
6002h total resolution
6003h preset value
6200h EVENT
6.3.2 Saving process
The parameters are stored in a non-volatile EEPROM� The changes made are
stored in the working memory of the encoder� Once all parameters have been
checked, they can be transferred to the EEPROM in a write cycle�
The stored parameters are activated after a reset (power on, NMT reset)�
6.3.3 Storing without reset
Once the saving process is completed by using the object 1010, there will be no
automatic reset to activate the parameters�
6.3.4 Storing with reset
The object 2300 from the manufacturer-specific directory carries out storage via an
automatic reset� The parameters become active at once� This has to be taken into
account when the node number or the baud rate are changed since there may be
interference on the bus�