Related Manuals for Wachendorff WDGA CANopen
Summary of Contents for Wachendorff WDGA CANopen
- Page 2 Managing Director: Robert Wachendorff Guarantee waiver, right of amendment, copyright protection: The company Wachendorff Automation assumes no liability and provides no guarantee for the correctness of this manual's contents or for any resulting direct or indirect damages. In the interests of continuous innovation and cooperation with our customers, we reserve the right to change technical data or content at any time.
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Page 3: Table Of Contents
Emergency messages ................. 18 6 WDGA object dictionary ..............19 Communication objects ................19 Device specific objects ................22 Manufacturer specific objects ..............28 7 Object description ................. 30 Network management (NMT) commands ............ 30 © Wachendorff Automation GmbH & Co. KG Rev.1.24... - Page 4 Node-ID setting ..................44 Configuration via SDO ................. 45 8.3.1 SDO access on objects ................. 45 8.3.2 SDO access on objects larger than 4 bytes .......... 47 8.3.3 Baudrate selection ................54 © Wachendorff Automation GmbH & Co. KG Rev.1.24...
- Page 5 Non-volatilely storage of parameters ............68 8.12.1 Saving parameters into EEPROM ............. 68 8.12.2 Restoring default parameters from EEPROM ........69 9 Error diagnosis ................70 Encoder configurations ................70 Support ..................71 © Wachendorff Automation GmbH & Co. KG Rev.1.24...
- Page 6 Figure 8.4: Initiate SDO read ..................48 Figure 8.5: read SDO segment ................. 49 Figure 8.6: Segmented-SDO write access ..............50 Figure 8.7: Initiate SDO write ..................51 Figure 8.8: write SDO segment ................53 © Wachendorff Automation GmbH & Co. KG Rev.1.24...
- Page 7 Table 8.1: Pin and cable assignment ................ 40 Table 8.2: LSS-message ..................41 Table 8.3: Command to set encoder “Stopped“-Mode ..........41 Table 8.4: LSS-Selective-Identification-Commands ..........42 Table 8.5: Answer of encoder to LSS-Selective-Identification-Commands ....42 © Wachendorff Automation GmbH & Co. KG Rev.1.24...
- Page 8 Table 8.49: Parametrization of PDO1 Sub-Index 2 ........... 59 Table 8.50: Parametrization of PDO1 Sub-Index 2 ........... 59 Table 8.51: Parametrization of PDO1 Sub-Index 5 to 30ms ........59 Table 8.52: Parametrization of PDO1 Sub-Index 2 ........... 60 © Wachendorff Automation GmbH & Co. KG Rev.1.24...
- Page 9 Table 8.74: CAM-Low-Limit 3 ................... 67 Table 8.75: Saving parameters ................. 68 Table 8.76: Example – Save all parameters ............. 68 Table 8.77: Restoring parameters ................69 Table 9.1: Error diagnosis – Encoder configuration ..........70 © Wachendorff Automation GmbH & Co. KG VIII Rev.1.24...
- Page 10 Network management Node-ID Part of CAN-ID; number of the encoder in the CAN network Open Systems Interconnection Reference Model Page reference Process Data Object. Communication object for transmission of process data res. reserved © Wachendorff Automation GmbH & Co. KG Rev.1.24...
- Page 11 Singleturn SYNC Synchronisations telegram Write Only Mark that (xx) is a binary representation Mark that (xx) is a decimal representation Mark that (xx) is a hexadecimal representation © Wachendorff Automation GmbH & Co. KG Rev.1.24...
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Page 12: Introduction
1.1 Encoder types This manual is assigned to the following Wachendorff Automation encoders: WDGA CANopen It applies to all WDGA CANopen with Revision Number (Software version) 1.18 and less. The Wachendorff Automation CANopen vendor id is: 0100 021Fh The Wachendorff Automation product code is: WDGA= 5744 4741h The revision number and the serial number vary for each individual encoder and can be found on the encoder’s label:... -
Page 13: Symbols
CAN 2.0A and CAN 2.0B. The implemented CANopen protocol meets the CiA 406 encoder profile. For an easy configuration of the encoder, EDS files (electronic data sheet) are provided at the download area at www.wachendorff-automation.com. © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 14: Safety Information
EMC and Machine Directive. A rotary encoder is a sensor that is designed to detect angular positions and revolutions and must only be used for this purpose! Wachendorff Automation manufactures and distributes encoders for use in non-safety-relevant industrial applications. -
Page 15: Safe Working
There is no obligation by the manufacturer to take the device back. If you have any questions regarding proper disposal, contact a disposal specialist in your area. © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 16: Device Description
3 Device description 3.1 Basic encoder design Wachendorff Automation WDGA encoders are available in different mechanical versions. Key features are size and shape. The standard sizes are 36mm and 58mm flange diameter. Different types of shapes according to shafts and flanges are available. -
Page 17: Led Status Indicator And Signal Codes
1000 1500 2000 2500 Red ON NOT ready / BUS-OFF Red single 1000 1500 2000 2500 flash Warning, occurrence of error frames Figure 3.2: LED indications 1 © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 18: Figure 3.3: Led Indications 2
modus started Figure 3.3: LED indications 2 © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 19: Quick Start
LED. See chapter 3.3 "LED status indicator and signal codes". 4.1 CAN network integration The default node ID of Wachendorff Automation encoders (Object 2101h sub-Index: 00h) is 7Fh=127d. For operating in a CAN-Network, the encoder’s baudrate has to be set. The common ways to set the baudrate is via LSS (CiA DSP-305) or a SDO command. -
Page 20: Setting-Up The Encoder
You can find additional information to this in chapter 8 "Setting-up". When the encoder is completely integrated into the application you can switch it into OPERATIONAL mode by the "Start-All-Nodes-Command" (see chapter 7.1). © Wachendorff Automation GmbH & Co. KG Rev.1.24... - Page 21 Unsigned32. By default PDO2 transmits the same value but synchronously on the reception of a SYNC message. Heartbeat is switched off and will not be transmitted by default. The encoder is now configured and ready for basic applications. © Wachendorff Automation GmbH & Co. KG Rev.1.24...
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Page 22: General Information About Can
IDs. In case that more than one node uses the same CAN-ID an error occurs only at a collision within the rest of the frame. On principle a CAN-ID should only be used by a single node! © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 23: Figure 5.1: Example Of The Arbitration
(the application will not notice). So the nodes can keep up resynchronising on the bit flanks (see Figure 5.2). Figure 5.2: Bitstuffing © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 24: Canopen
(profile). A CANopen profile defines objects representing the different functions of a device. These objects form a table called object dictionary. © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 25: Specifications And Profiles
Use: for transmission of process data. The WDGA encoders provide up to four PDOs. A PDO uses the full length of the data area of a CAN frame (8 bytes) for the process data without additional overhead. © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 26: Object Dictionary
On request: A node sends a RTR frame to ID of the designated PDO and the encoder returns the PDO. (The CiA strongly recommends not to use RTR frames. Therefore RTR is not supported by Wachendorff Automation encoders!) Synchronously: On the reception of a SYNC message the node send its PDOs. -
Page 27: Network Management (Nmt)
The message is permanently associated with the node ID. Description of the NMT-states: Pre-Operational Object Communication enabled SYNC EMCY Heartbeat SDO communication is enabled. PDO communication is disabled. Table 5.4: Available communication – Pre-Operational © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 28: Heartbeat And Node-Guarding
Node-Guarding The heartbeat protocol is independent from the master. It is the recommended mechanism. The device sends autonomous and cyclic a "life" message. Wachendorff Automation recommends the use of the heartbeat protocol. © Wachendorff Automation GmbH & Co. KG... -
Page 29: Emergency Messages
Failures of a CAN node are announced by emergency messages (EMCY message). The EMCY message contains an error code identifying the problem. A node also can be configured to send no EMCYs. © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 30: Wdga Object Dictionary
Unsigned16 0000h time in Milliseconds; 0h= node guard protocol disabled. 100Dh Life time Contains the life time Unsigned8 factor factor for the node guard protocol. Table 6.1: Object dictionary 1000h – 100Dh © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 31: Table 6.2: Object Dictionary 1010H - 1020H
If the configuration was changed after setting this value, the object is set to zero autonomously. Configuration date Unsigned32 0000 0000h Configuration time Unsigned32 0000 0000h Table 6.2: Object dictionary 1010h – 1020h © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 32: Table 6.3: Object Dictionary 1029H - 1A01H
2nd parameter TPDO Mapping von Objekt Unsigned32 6004 0020h 1 in der Applikation variable, Mapped application Unsigned32 depends on object 2 - 8 sub-index Table 6.3: Object dictionary 1029h – 1A01h © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 33: Device Specific Objects
6004h Position current position value Unsigned32 value 6008h High Current position Unsigned64 precision value, when position measuring range >32 value Table 6.5: Device specific objects 6000h –6008h © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 34: Table 6.6: Device Specific Objects 6009H -6310H
1b=cam state inverted 6310h CAM1 low Indicating the lower Unsigned8 limit switching point of the 1st cam Changing lower Signed32 0000 0000h switching point CAM1 Table 6.6: Device specific objects 6009h –6310h © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 35: Table 6.7: Device Specific Objects 6311H -6322H
CAM2 6322h CAM3 high Indicating the upper Unsigned8 limit switching point of the 3rd cam Changing upper Signed32 0000 0000h switching point CAM3 Table 6.7: Device specific objects 6311h –6322h © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 36: Table 6.8: Device Specific Objects 6323H -6334H
0000 0000h hysteresis for the 4th 6334h CAM5 Indicating the Unsigned8 hysteresis hysteresis for the 5th Changing the Unsigned32 0000 0000h hysteresis for the 5th Table 6.8: Device specific objects 6323h –6334h © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 37: Table 6.9: Device Specific Objects 6335H -6504H
MT: FFFFh able revolutions 6503h Alarms Alarm set by Unsigned16 p. 34 malfunction. 6504h Supported Information about Unsigned16 0001h alarms supported alarms. Table 6.9: Device specific objects 6335h –6504h © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 38: Table 6.10: Device Specific Objects 6505H -6510H
Table 6.10: Device specific objects 6505h –6510h (p. = page reference; ro / rw / co = access type; Map = PDO-Mapping; i* = individual; dyn = dynamic; ST = singleturn; MT = multiturn) © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 39: Manufacturer Specific Objects
Current temperature Signed16 value Upper Limit Signed16 100 (°C) Lower Limit Signed16 -40 (°C) Maximum value Signed16 occurred Minimum value Signed16 occurred Table 6.11: manufacturer specific objects 2100h –2500h © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 40: Table 6.12: Manufacturer Specific Objects 2502H -2504H
Table 6.12: manufacturer specific objects 2502h –2504h (p. = page reference; ro / rw / co = access type; Map = PDO-Mapping; i* = individual; dyn = dynamic; ST = singleturn; MT = multiturn) © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 41: Object Description
Table 7.2: Commands for NMT-command Node-ID: The node-ID determines, whether the NMT addresses a certain node or all nodes. Command Wert all Nodes Valid Nod-IDs 01..127d invalid Node-IDs 128..255d Table 7.3: Node-ID values for NMT-commands © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 42: Heartbeat Protocol
(=2710h). The WDGA is assumed to be node 1: 601h CAN-ID DLC Command Object Object Sub- Time L Time H Producer Node- Index Table 7.5: Example configuration of a consumer heartbeat © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 43: Emergency Messages (Emcy)
Info field 1 (Byte3) 6 Temp. Read Error low limit exceeded high limit exceeded Field Hex- Error description Error Code value 5000h Info field 2 (Byte4) 0 EEPROM error in init-phase EEPROM Write-Timeout © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 44: Error Objects
Info: ST*(15) ST*(14) ST*(13) ST*(12) ST*(11) ST*(10) ST*(9) ST*(8) Bit: 31 Info: MT*(9) MT*(8) MT*(7) MT*(6) MT*(5) MT*(4) MT*(3) MT*(2) Table 7.10: Manufacturer status register *= Error type (number) | for detailed definitions please contact our technical support. © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 45: Alarms
Table 7.12: Warnings – Object 6505h 7.5 Electronic cam switch (CAM) Encoders by Wachendorff Automation provide the possibility to configure an electronic cam switch with 8 cams in one single channel. Every cam is defined by its low and high limit, the hysteresis and the polarity. -
Page 46: Cam-Enable-Register
WDGA provides one channel with 8 cams. The cam-high-limit always has to be lower than the corresponding low-limit. Therefore the high-limit must be usually configured before the corresponding low-limit! © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 47: Cam-High-Limit
Object 1008h delivers the encoder designation. Only sub index 0 is supported. The value of this object depends on the variant of the firmware. WDGA-ST-CO - singleturn CANopen WDGA-MT-CO - multiturn CANopen © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 48: Error Behaviour
CAN-Error Active. This feature has to be used with caution, because it can have a critical impact on the whole bus system! © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 49: Customer Data
EEPROM, e.g. by using the "Store All Parameters" command (see 8.12 "Saving parameters into EEPROM"). Otherwise the encoder will return to the last configuration saved after a reset. © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 50: Setting-Up The Encoder
The encoder has a mounted torque support. This torque support has to be screwed to the machine. The torque support is elastic so that vibrations and tolerances of the application shaft will not overload the encoder’s bearings. © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 51: Table 8.1: Pin And Cable Assignment
Pin assignment (according to CiA 303): (Variations possible (e.g. 58V)) Definition Wire colour (Encoder (Encoder with with cable) connector) Supply brown (10-30V) Ground white (GND) green High yellow grey Table 8.1: Pin and cable assignment © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 52: Configuration Via Lss
Use the NMT command to switch the encoder into "STOPPED" mode. Send the following message: 7E5h Table 8.3: Command to set encoder “Stopped“-Mode © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 53: Lss Configuration By "Switch Mode Selective
(selective or global) baudrate and node ID can be changed by LSS. After changing the settings have to be stored and the configuration mode has to be deactivated. (see below "End LSS configuration mode"). © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 54: End Lss Configuration Mode
Table 8.8: set Baudrate The following baud rates can be selected: Value Baudrate 1 Mbit/s 800 kBit/s 500 kBit/s 250 kBit/s 125 kBit/s 100 kBit/s 50 kBit/s 20 kBit/s 10 kBit/s Auto Table 8.9: Baudrate-Coding © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 55: Node-Id Setting
CAN-ID Command Node-ID Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Table 8.11: set Node-ID Valid Node IDs are 01h to 7Fh. Mind leaving the LSS configuration mode after configuration (see above 8.2.4)! © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 56: Configuration Via Sdo
Table 8.12: Example SDO master to encoder The payload of the SDO is 4 bytes of data (d1d2d3d4): 580h+ID 8 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.13: Example SDO answer © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 57: Figure 8.2: Write Object
The encoder acknowledges without data bytes: 580h+ID 8 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.16: Example SDO answer Table 8.14 shows the overview of the available commands. © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 58: Sdo Access On Objects Larger Than 4 Bytes
In the following example the 8byte "High Precision Position Value" (object 6008h) is read: 01000000b 600h+ID 8 ccs=2,e=0, CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.17: SDO read request on object 6008h © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 59: Figure 8.4: Initiate Sdo Read
The encoders confirms a segmented SDO transfer of 8 bytes data: 01000001b 580h+ID 8 scs=2,e=0, CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.19: Confirm SDO read access of object 6008h © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 60: Figure 8.5: Read Sdo Segment
The encoder answers with the first data segment: data data data data data data data 00000000b 580h+ID 8 scs=0, t=0, n=0, c=0 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.22: answer with first segment © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 61: Figure 8.6: Segmented-Sdo Write Access
The 7 data bytes of the first segment and the single valid data byte of the data bytes represent the 8 byte "High Precision Position value" (object 6008h). Segmented write access on an object: Figure 8.6: Segmented-SDO write access © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 62: Figure 8.7: Initiate Sdo Write
580h+ID 8 01100000b scs=3 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.26: Acknowledgement of write access of object 6009h Initializing segmented write access: Figure 8.7: Initiate SDO write © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 63: Table 8.27: Declaration Of Used Abbreviations In Figure 8.7
The encoder confirms and requests the next segment: data data data data data data data 580h+ID 8 00100000b scs=1, t=0 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.29: Acknowledgement send by the encoder © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 64: Figure 8.8: Write Sdo Segment
Now the next data segment can be send: data 00011101b 600h+ID 8 ccs=0, t=1, n=6, c=1 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.31: send next segment © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 65: Baudrate Selection
8 byte "High Precision Position Preset Value" (object 6009h). 8.3.3 Baudrate selection The encoders WDGA by Wachendorff Automation provide an automatic baudrate detection. It is also possible to use a fixed baudrate which can be set by either LSS (as described above) or SDO. -
Page 66: Node-Id Selection
Changing the Node ID automatically adjusts the PDO and EMCY COB-IDs. After the first manual storage, they are set to their current value and will be no longer automatically adjusted. Performing the "Restore Defaults" command will re-enable automatic adjustment. © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 67: Basic Nmt Commands
To perform a soft reset of the encoder, the "Reset Remote Node" is used. After the reset the encoder will send his boot-up message and enter Pre-Operational by default: 0 – 127 CAN-ID Command Byte Node-ID Table 8.41: NMT command - Reset remote node © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 68: Heartbeat Settings
PDO1 asynchronous / on change of position Position-value value 1801h PDO2 synchronous / on every SYNC Position-value 1802h PDO3 synchronous / on every SYNC High Precision-value 1803h PDO4 disabled Table 8.45: Default PDO configuration © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 69: Table 8.46: Selectable Pdo Transmission Types
"save all parameters" has been performed, a change of the node ID will automatically effect the COB IDs. After a save command, the PDO COB-IDs have to be changed manually or perform a "restore all parameters". © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 70: Synchronous Pdo
Byte2 Byte3 Index Table 8.51: Parametrization of PDO1 Sub-Index 5 to 30ms PDO1 is now in asynchronous mode and will be sent every 30 milliseconds when the encoder is in Operational state. © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 71: Variable Pdo-Mapping
The data 1, 2 und 3 (see mapping, Table 8.54) are spread over the PDOs 8 payload bytes. The current payload is 4byte + 2 byte + 2byte = 8 byte. So the PDO is used with 100% efficiency! © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 72: Table 8.55: Structure Of Pdo1 (Content -> Table 8.54)
First the sub-index 0 of the Mapping parameter object has to be set to zero: 600h+ID 8 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.56: Mapping parameter The encoder is now ready for remapping. © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 73: Table 8.57: Mapping Position Value
Byte0 Byte1 Byte2 Byte3 Index Table 8.60: Mapping parameter – activate new mapping The re-mapping of PDO1 is now completed and valid, but it should be saved into the EEPROM (see 8.12). © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 74: Changing Resolution And Direction
536 870 912 units = 29 bit = 20 00 00 00h ) => Max. Multiturn resolution: 29 Bit - 12 Bit = 17 Bit = 131072 revolutions (02 00 00h) © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 75: Position Preset
600h+ID 8 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.65: Set position preset To set the zero position: p1, p2, p3, p4 = 00h, 00h, 00h, 00h © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 76: Position Value Filtering
So object 2106h-01h must be set to 6d = 06h and 2106h-01h set to 125d=7Dh, so the limits of ±32767 are scaled to ±2500 U/min. Applying this scaling, the limits ±32767 corresponds with ±2500 rpm. © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 77: Frequency Limit
To enable the individual cams the CAM-enable-register (object 6301h-01h) is used. For example the setting 00000111b = 07h enables the first three cams. 600h+ID 5 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.68: Enable first three cams © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 78: Table 8.69: Cam-High-Limit 1
Using object 6300h Sub-Index 1 the CAM-state-register can be read. The CAM-state- register is also PDO mappable! For more details see 7.5.1 CAM-state-register. To save the configuration into the EEPROM, see 8.12.1 "Saving parameters into EEPROM”. © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 79: Non-Volatilely Storage Of Parameters
65766173h) has to be written into the dedicated sub- index. E.g. "Save all Parameters": 600h+ID 8 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.76: Example – Save all parameters © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 80: Restoring Default Parameters From Eeprom
To restore the default settings the "ASCII" value "load" (in hex: 64616F6Ch) has to be written to the dedicated sub-index of the object. Attention: The baudrate and node-ID settings, as well as the customer data object, will not be restored! © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 81: Error Diagnosis
There are irregular failures during Encoder is stuck in its initiation due to a transmission. hardware failure. Please contact our technical support. Table 9.1: Error diagnosis – Encoder configuration © Wachendorff Automation GmbH & Co. KG Rev.1.24... -
Page 82: Support
Do you have any questions about this product? Our technical application advisor will be pleased to help you. Tel.: +49 (0) 67 22 / 99 65 414 Fax: +49 (0) 67 22 / 99 65 70 E-Mail: support-wdga@wachendorff.de Notes: © Wachendorff Automation GmbH & Co. KG Rev.1.24...
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