IFM RM8004, Device Manual, Page: 9 / 35

UK
CANopen encoder
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6.1.4 Start/stop mode
To set the encoder to the stop mode, the master must send the following message:
Identifier Byte 0 Byte 1 Description
0 h 02 h 00 NMT stop, all nodes
0 h 02 h NN NMT stop, NN
NN: node number
It is possible to set all nodes (byte 1 = 0) or individual nodes (byte 1 NN) to the
stop mode�
6.1.5 Reinitialisation of the encoder
► Carry out reinitialisation in the event of incorrect function�
Identifier Byte 0 Byte 1 Description
0 h 81 h 00 reset all nodes
0 h 81 h NN reset node
NN: node number
It is possible to reset all nodes (byte 1 = 0) or individual nodes (byte 1 NN)� After
reinitialisation the device replies again in the preoperational mode�
6.2 Standard operation (CAN transmission modes)
RTR mode The connected host requests the current position value via a remote
transmission request telegram� The encoder reads the current position,
sets off set parameters (if applicable) and returns the position value via
the same CAN identifier�
EVENT time The absolute encoder cyclically sends the current position value -
without any request by the host� The cycle time can be programmed in
milliseconds for values between 1 ms and 65536 ms�
Sync Mode When the sync telegram has been received by the host, the encoder
transmits the current process value� If several nodes reply to the sync
telegram, the individual nodes report one after the other according to
their CAN identifier� The programming of an offset time is not necessary�
A sync counter can be programmed so that the encoder does not send
before a defined number of sync telegrams�
6.3 Storing parameters
6.3.1 Object directory
Object Index Object description
1005h COB ID Sync
100Ch guard time
100Dh life time factor
1016h consumer heartbeat time