Related Manuals for Wachendorff WDGA Series
Summary of Contents for Wachendorff WDGA Series
- Page 2 Managing Director: Robert Wachendorff Warranty waiver, right of amendment, copyright: Wachendorff Automation accepts no liability or warranty for the correctness of this manual, or for any direct or indirect damage that may arise from it. In the pursuit of constant innovation and cooperation with customers, we reserve the right to amend technical data or content at any time.
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Page 3: Table Of Contents
CAN over EtherCAT (CoE) ................15 4.3.1 General ....................15 4.3.2 Communication-specific objects ............16 1000h – Device type ............... 19 4.3.2.1 1001h – Error register..............19 4.3.2.2 1008h – Manufacturer device name ..........20 4.3.2.3 © Wachendorff Automation GmbH & Co. KG Rev.1.09... - Page 4 4.3.4.16 6310h … 6317h – CAM1…CAM8 low limit ........38 4.3.4.17 6320h … 6327h – CAM1…CAM8 high limit ........38 4.3.4.18 6330h … 6337h – CAM1…CAM8 hysteresis ......... 38 4.3.4.19 6340h … 6347h – High-resolution CAM1…CAM8 low limit ... 38 © Wachendorff Automation GmbH & Co. KG Rev.1.09...
- Page 5 Information ....................45 5.2.1 Summary....................45 5.2.2 Diagnosis ....................46 5.2.3 Versions ....................47 Configuration ....................48 5.3.1 Network ....................48 5.3.2 Encoder....................49 5.3.3 Firmware update ................... 50 Licence information ..................53 © Wachendorff Automation GmbH & Co. KG Rev.1.09...
- Page 6 Technical Manual Table of contents WDGA with EtherCAT Contact ......................53 6 Commissioning with TwinCAT ............. 54 7 Technical advice ................61 © Wachendorff Automation GmbH & Co. KG Rev.1.09...
- Page 7 Figure 6.2: TwinCAT - Scan / Message ..............55 Figure 6.3: TwinCAT - IO devices ................55 Figure 6.4: TwinCAT – Scan for boxes ..............56 Figure 6.5: TwinCAT - Scan complete ..............56 © Wachendorff Automation GmbH & Co. KG Rev.1.09...
- Page 8 Table 4.31: Example of the CAM polarity register ............ 37 Table 4.32: 6503h - Alarms ..................40 Table 4.33: Signal description .................. 41 Table 4.34: Example of profile software version ............41 © Wachendorff Automation GmbH & Co. KG Rev.1.09...
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Page 9: Introduction
1.1 About this manual This technical manual describes the configuration and assembly options for absolute encoders from Wachendorff Automation with an EtherCAT interface. It represents an addition to the other published Wachendorff Automation documents, such as the datasheets, assembly instructions, supplements, catalogues and flyers. -
Page 10: Explanation Of Symbols
Principles of automation technology • System planning • Risks (availability, safety) • Shielding concepts • Reflections • Repeaters • Network configuration • Bus cycle time • FMA management services • Transfer services • Telegram types © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 11: Product Assignment
(multi-turn). The measuring data and variables derived from this are processed by the encoder and provided as electrical output signals for the downstream peripherals. In the WDGA series, the patented technologies QuattroMag® and EnDra® are used for single-turn and multi-turn encoders respectively. This means that the WDGA series from Wachendorff is especially maintenance-free and environmentally friendly. -
Page 12: Supplied Package
Generally speaking, the WDGA product series with an EtherCAT interface comprises the following supplied package: WDGA with EtherCAT (with bus cover) Assembly instructions The corresponding ESI file and matching datasheet are available on the Internet to download: www.wachendorff-automation.de © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 13: Safety Information
EMC and Machinery directives. The encoder is a sensor for capturing angle positions and revolutions and should only be used for such purposes! Encoders from Wachendorff Automation are produced and marketed for industrial use outside the safety/security sector. -
Page 14: Safe Working
The manufacturer is not obliged to take back the equipment. For questions relating to correct disposal, please contact a professional disposal company near you. © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 15: Description Of The Equipment
(full or end hollow shaft). The size is specified by the diameter on the flange at 58 mm. The illustration below shows examples of the WDGA series with EtherCAT. -
Page 16: Principles Of Wdga
As a result, the amount of development work required in the control program is reduced, and the computing capacity of the control unit is relieved. © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 17: Single-Turn - St (Quattromag®)
The sensors are based on the optical or magnetic scanning of a material measure on the encoder shaft. The WDGA encoders from Wachendorff use the new magnetic QuattroMag® technology that ensures maximum accuracy and resolution of the single turn. - Page 18 It should be noted that measuring errors occur if the result of this formula is a decimal. © Wachendorff Automation GmbH & Co. KG Rev.1.09...
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Page 19: Things To Consider When Connecting Ethercat Encoders
Table 3.1. Connection Connection Connection assignment assignment assignment Socket M12x1, Plug M12x1, Socket M12x1, (Port 1) 4-pin, (Power) 4-pin, (Port 2) 4-pin, D-coded A-coded D-coded n. c. n. c. Table 3.1: Pin assignment © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 20: Leds And Signalling
C y c l e Flickering 10 Hz C y c l e 1000 1250 Single flash C y c l e © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 21: Table 3.2: Led Signals
Error Double flash Process data or EtherCAT watchdog timeout Flickering Boot error Application error Initialisation Flashing Pre-operational Single flash Safe - operational Green Flickering Initialisation or bootstrap Operational Table 3.2: LED signals © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 22: Mac Address And Ip Address
Technical Manual 3 - Description of the equipment WDGA with EtherCAT 3.6 MAC address and IP address The Wachendorff EtherCAT encoder has a MAC address. This always starts with D4- 90-E0-xx-xx-xx. shipped status, EtherCAT encoder address 192.168.1.127. The IP address can be configured on the webpage of encoder, see subsection 5.3.1. -
Page 23: Ethercat
Implementation of the CiA device profile 406 for encoders Web server interface Firmware update via EtherCAT Table 4.2: Communication protocols 4.3 CAN over EtherCAT (CoE) 4.3.1 General The CANopen objects are listed below. © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 24: Communication-Specific Objects
1018h Identity Data for product Unsigned8 object identification Vendor ID Unsigned32 0000 021Fh Product code Unsigned32 5744 4741h (WDGA) Revision number Unsigned32 Serial number Unsigned32 Table 4.3: Object directory 1000h - 1018h © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 25: Table 4.4: Object Directory 10F3H - 1A00H
Default: 6505h Warnings 5th Output object Unsigned32 1001 0008h Default: 1001h Error register Inactive Mapping of object 6-8 Unsigned32 through sub- in the application index 00h Table 4.4: Object directory 10F3h - 1A00h © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 26: Table 4.5: Object Directory 1A01H - 1C00H
1C00h Sync Sync Manager Unsigned8 Manager Configuration of Communi- communication cation Type channels Communication type Unsigned8 Communication type Unsigned8 Communication type Unsigned8 Communication type Unsigned8 Table 4.5: Object directory 1A01h - 1C00h © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 27: 1000H - Device Type
0702 0196h - for multi-turn encoders 4.3.2.2 1001h – Error register Content of object 1001h (bit allocation - meaning, default = 00000000b): Bit: Info: generic error Table 4.7: 1001h – Error register © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 28: 1008H - Manufacturer Device Name
Where Restore manufacturer objects Table 4.9: 1011h – Parameters loading options The loading of original parameters is initiated by populating the corresponding sub-index with the ASCII value "load" (in hex: 6C6F6164h). © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 29: 1018H - Identity Object
Default: 6030h Speed 3rd Output object, Default: 6503h Alarms 4th Output object, Default: 6505h Warnings 5th Output object, Default: 1001h Error register Table 4.12: 1st transmit PDO default mapping (EtherCAT object 1A00h) © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 30: 1A01H - 2Nd Tpdo Mapping Parameter
4th Output object, Default: 6505h Warnings 5th Output object, Default: 6300h CAM state 6th Output object, Default: 6410h High-resolution work area state Table 4.14: 2nd transmit PDO default mapping (EtherCAT object 1A01h) © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 31: 1C00H - Sync Manager Communication Type
Unsigned16 PDO mapping Object Index of assigned TxPDO 1 Value: 1A00h Unsigned16 PDO mapping Object Index of assigned TxPDO 1 Value: 1A01h Tabelle 4.16: Sync Manager 3 PDO assignment (EtherCAT Objekt 1C13) © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 32: 1C33H - Sync Manager 3 Synchronisation
Minimum Cycle Time in ns 50000 Unsigned32 Calc and Copy Time 97000 Unsigned32 Sync0 Cycle Time Unsigned16 Cycle Time Too Small Bool Sync Error Table 4.17: Sync Manager 3 synchronisation (EtherCAT Objekt 1C33h) © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 33: Manufacturer-Specific Objects
FFh = 255 4th octet Unsigned8 00h = 0 2902h Gateway Contains the gateway Unsigned8 1st octet Unsigned8 2nd octet Unsigned8 3rd octet Unsigned8 4th octet Unsigned8 Table 4.18: Manufacturer-specific objects 2105h - 2902h © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 34: 2105H - Integration Values
4.3.3.4 2900h – IP address Contains the encoder's IP address. Default: 192.168.1.127 4.3.3.5 2901h – Subnet mask Contains the encoder's subnet mask. Default: 255.255.255.0 4.3.3.6 2902h – Gateway Contains the encoder's gateway address. Default: 0.0.0.0 © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 35: Encoder-Specific Objects
Unsigned8 Current Signed16 speed value 6031h Speed Speed parameter Unsigned8 parameter Speed source Unsigned8 selector Speed integration Unsigned16 time Multiplier value Unsigned16 Divider value Unsigned16 Table 4.21: Device-specific objects 6000h - 6031h © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 36: Table 4.20: Device-Specific Objects 6009H - 6310H
6314h CAM5 low Lower switching point Unsigned8 limit for the 5th CAM Change of the lower Signed32 0000 0000h switching point for the 5th CAM Table 4.22: Device-specific objects 6300h - 6314h © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 37: Table 4.21: Device-Specific Objects 6311H - 6321H
6327h CAM8 high Upper switching point Unsigned8 limit for the 8th CAM Change of the upper Signed32 0000 0000h switching point for the 8th CAM Table 4.23: Device-specific objects 6315h - 6327h © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 38: Table 4.22: Device-Specific Objects 6322H - 6332H
Hysteresis for the Unsigned8 hysteresis switching points of the 7th CAM The size of the Unsigned3 0000 0000h hysteresis depends on the height of this value Table 4.24: Device-specific objects 6330h - 6336h © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 39: Table 4.23: Device-Specific Objects 6337H - 6402H
6402h Work area Upper limit of the Unsigned8 high limit work area Change of the work Signed32 7FFF FFFFh area high limit Table 4.25: Device-specific objects 6337h - 6402h © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 40: Table 4.24: Device-Specific Objects 6410H - 6508H
The first 4 digits = Unsigned3 0100 0400h software software version, the version next 4 digits = profile 6508h Operating Not supported Unsigned3 FFFF FFFFh time Table 4.26: Device-specific objects 6410h - 6508h © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 41: Table 4.25: Device-Specific Objects 6509H - 6510H
(6009h) Signed64 0000 0000 0000 0000h 6510h Number of Display of the max. Unsigned40 00FF high- possible high- FFFF precision precision multi-turn FFFFh revolutions resolution Table 4.27: Device-specific objects 6509h - 6510h © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 42: 6000H - Operating Parameters
600Ah (see 4.3.4.8). TMR always uses the last value set e.g. 600Ah was set last, TMR = the value of 600Ah, if 6002h is changed afterwards, TMR = the value of 6002h. © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 43: 6003H - Preset Value
The current non-scaled position value is output without a preset via object 600Ch. 6030h – Speed value 4.3.4.11 The current determined speed is output via object 6030h. The speed is influenced by the parameters defined under 4.3.4.12. © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 44: 6031H - Speed Parameters
7(MSB) 6 0(LSB) Type CAM 8 CAM 7 CAM 6 CAM 5 CAM 4 CAM 3 CAM 2 CAM 1 Value Logic High High High Table 4.30: CAM state register - value 89h © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 45: 6301H - Cam Enable Register
CAM 7 CAM 6 CAM 5 CAM 4 CAM 3 CAM 2 CAM 1 Value Logic Default Default Default Inverted Default Default Inverted Inverted Table 4.33: Example of the CAM polarity register © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 46: 6310H
See 4.3.4.17, only with max. 64 bit instead of max. 32 bit 6360h … 6367h – High-resolution CAM1…CAM8 hysteresis 4.3.4.21 See 4.3.4.18, only with max. 64 bit instead of max. 32 bit © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 47: 6400H - Work Area State Register
See 4.3.4.24, only with max. 64 bit instead of max. 32 bit 6500h – Operating status 4.3.4.28 Object 6500h (read-only) can be used to read out the set parameters of object 6000h. © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 48: 6501H - Single-Turn Resolution
An error has occurred in the sensor. The position value is incorrect. Table 4.34: 6503h – Alarms 6504h – Supported alarms 4.3.4.32 Object 6504h shows the supported alarms. Only the position error is supported, therefore the value is always 0x0001h. © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 49: 6505H - Warnings
Object 6507h specifies the software version and profile. Byte Meaning Example 4 (MSB) Profile Version Major = Version 04.00 Profile Version Minor Software Version Major = Version 01.64 Software Version Minor Table 4.36: Example of profile software version © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 50: 6508H - Operating Time
000Bh. This states that the encoder is a class 3 high-resolution encoder without safety functions. 650Fh – Offset value for high-resolution encoder 4.3.4.42 Object 650Fh contains the offset value for high-resolution encoders, calculated from the preset function (6009h). © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 51: 6510H - Number Of High-Precision Revolutions
Object 6510h specifies the number of revolutions distinguishable by the sensor. Currently the value is FF FFFF FFFFh. The specification defines this parameter as an Unsigned40 value. The Wachendorff encoder is able to discern 43-bit revolutions, however, and transfer this value. © Wachendorff Automation GmbH & Co. KG... -
Page 52: Web Server (Caution)
Once you have done this, the encoder's start page opens (Information - Summary). In the sub-sections below, we show you the various views of the web server and explain the possible functions to you. © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 53: Information
You can toggle the language of the web server after you call it up. After switching in a sub-mask, the web server restarts in the start mask. © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 54: Diagnosis
This is where possible causes of errors can be displayed. If you see an error here, contact us and tell us what the information says. Field bus CPU load: This is where you will see the CPU load of the encoder in operation. © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 55: Versions
5 - Web server WDGA with EtherCAT 5.2.3 Versions Figure 5.3: Versions Figure 5.3 shows information about the individual version states such as: Application SDAI Stack MAC Sensor U2A © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 56: Configuration
Figure 5.4: Network settings This is where you can change the device name, IP address, network status and gateway. Please note that you can only change the data when the system is not moving. © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 57: Encoder
You can check the parametrised values of the encoder in Figure 5.5: Position (with scaling) RAW position (without scaling) Offset Velocity CAM status Work area status © Wachendorff Automation GmbH & Co. KG Rev.1.09... -
Page 58: Firmware Update
To update the encoder's firmware, choose the valid firmware file with the ending ".bin" by pressing the "Browse..." button (see Figure 5.7). Figure 5.7: Firmware update - selecting the file © Wachendorff Automation GmbH & Co. KG Rev.1.09... - Page 59 (see Figure 5.8) and after the transfer is done, you will see a warning “Updating FLASH. This takes about 2 minutes. Do not switch off the device!” (see Figure 5.9) Figure 5.8: Firmware update - transfer file Figure 5.9: Firmware update – update FLASH © Wachendorff Automation GmbH & Co. KG Rev.1.09...
- Page 60 Carry out a voltage reset and repeat the process. If the voltage supply fails during the update and the encoder stops responding, please contact our support team. Figure 5.11: Firmware update - failed © Wachendorff Automation GmbH & Co. KG Rev.1.09...
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Page 61: Licence Information
You can download the source code of these packages via the link on this website. 5.5 Contact Figure 5.13: Contact information For further product information and technical support, you will find the contact details required here. © Wachendorff Automation GmbH & Co. KG Rev.1.09... - Page 62 Ensure that you have an Intel network card in your PC. TwinCAT only works reliably with certain types. Expand the tree at "I/O" and right-click on Device. Then click SCAN. Figure 6.1: TwinCAT – Scan © Wachendorff Automation GmbH & Co. KG Rev.1.09...
- Page 63 WDGA with EtherCAT Confirm the message shown in Figure 6.2 with "OK". Figure 6.2: TwinCAT - Scan / Message Choose your TwinCAT-enabled network card (see Figure 6.3) Figure 6.3: TwinCAT - IO devices © Wachendorff Automation GmbH & Co. KG Rev.1.09...
- Page 64 Once the scan is complete, confirm the following window with "Yes". (see Figure 6.5) The encoder appears in the tree structure and you can access the process data via the CoE tab. (see Figure 6.6) Figure 6.6: TwinCAT - Scan complete © Wachendorff Automation GmbH & Co. KG Rev.1.09...
- Page 65 0x0004 in the "CoE - Online" tab. (see Figure 6.7) If not, double-click it and change the value (see Figure 6.8) to your desired setting (see 4.3.4.1 6000h – Operating parameters). Figure 6.7: Scaling – Check object 6000 Figure 6.8: Scaling – set object 6000 to 4 © Wachendorff Automation GmbH & Co. KG Rev.1.09...
- Page 66 The result should look like in Figure 6.11. Figure 6.11: Scaling - Overview of the example settings To ensure that the values are saved after a voltage reset, please read Chapter 6.4 Save settings. © Wachendorff Automation GmbH & Co. KG Rev.1.09...
- Page 67 Figure 6.12: Preset – Set to zero Figure 6.13: Preset – Preset accepted To ensure that the values are saved after a voltage reset, please read Chapter 6.4 Save settings. © Wachendorff Automation GmbH & Co. KG Rev.1.09...
- Page 68 This is done by setting the value of object 1010:01 to 1702257011 as "Dec:" and confirming with OK (see Figure 6.14). This corresponds to the word "save". Figure 6.14: Save settings © Wachendorff Automation GmbH & Co. KG Rev.1.09...
- Page 69 Do you have any questions about this product? Your technical applications advisers will be happy 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.1.09...
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