Related Manuals for Wachendorff WDGA58E
Summary of Contents for Wachendorff WDGA58E
- 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.
-
Page 3: Table Of Contents
Process and configuration data ..............15 4.3.1 Process data overview (Assemblies) ............ 15 4.3.2 Process data Assembly 1..............16 4.3.3 Process data Assembly 2..............17 4.3.4 Process data Assembly 3..............18 4.3.5 Process data Assembly 100..............19 © Wachendorff Automation GmbH & Co. KG... - Page 4 Dimensions ....................67 7.2.1 WDGA 58B ................... 67 7.2.2 WDGA 58F .................... 67 7.2.3 WDGA 58E ................... 68 7.2.4 WDGA 58A ................... 68 7.2.5 WDGA 58D ................... 69 8 Technical support ................70 © Wachendorff Automation GmbH & Co. KG...
- Page 5 Technical Manual Table of contents WDGA with EtherNet/IP © Wachendorff Automation GmbH & Co. KG...
- Page 6 Figure 6.28: Parameters and tags ................58 Figure 6.29: Rung edit ....................58 Figure 6.30: Rung edit ....................58 Figure 6.31: Rung edit ....................59 Figure 6.32: Rung edit ....................59 Figure 6.33: MSG block configuration ..............60 © Wachendorff Automation GmbH & Co. KG...
- Page 7 Figure 7.1: Dimensions WDGA 58B ................. 67 Figure 7.2: Dimensions WDGA 58F ................. 67 Figure 7.3: Dimensions WDGA 58E ................. 68 Figure 7.4: Dimensions WDGA 58A ................. 68 Figure 7.5: Dimension WDGA 58D ................69 © Wachendorff Automation GmbH & Co. KG...
- Page 8 Table 4.11: Position Sensor Object ................31 Table 4.12: CAM state register ................. 31 Table 4.13: CAM state register ................. 32 Table 4.14: CAM enable register ................32 Table 4.15: CAM polarity register ................32 Table 6.1: Configurations..................61 © Wachendorff Automation GmbH & Co. KG...
-
Page 9: Introduction
This technical manual describes the configuration and mounting possibilities for absolute-value encoders with a EtherNet/IP interface for firmware version greater 1.02 produced by Wachendorff Automation. It supplements the other publicly available Wachendorff automation documents, e.g. data sheets, assembly instructions, leaflets, catalogues and flyers. -
Page 10: Symbols
Basic information about automation technology • System planning • Risks (availability, safety) • Shielding concepts • Reflections • Repeaters • Network configuration • Bus cycle times • FMA management services • Transmission services • Telegram types © Wachendorff Automation GmbH & Co. KG... -
Page 11: Product Assignment
Technical Manual 1 - Introduction WDGA with EtherNet/IP 1.2 Product assignment This manual relates to the following encoder types produced by Wachendorff Automation: Solid shaft absolute encoders: • WDGA 58A ETHERNET/IP (BI2) — (with bus cover) • WDGA 58B ETHERNET/IP (BI2) — (with bus cover) •... -
Page 12: Specifications
As a rule, the WDGA product range with a EtherNet/IP interface includes the following items: • WDGA with EtherNet/IP (with bus cover) • Assembly instructions • The corresponding EDS file and data sheet can be downloaded from the internet: www.wachendorff-automation.com © Wachendorff Automation GmbH & Co. KG... -
Page 13: 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 14: 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... -
Page 15: Device Description
With the ring topology, the DLR ("Device Level Ring") can be used to prevent a total failure in the network due to a cable break, for example. 3.3 WDGA — basic principles The following sections describe the basic functions of an absolute encoder. © Wachendorff Automation GmbH & Co. KG... -
Page 16: Singleturn - St (Quattromag®)
The sensor system is based on optical or magnetic sampling of a measuring graduation on the encoder shaft. The WDGA encoders from Wachendorff feature the new QuattroMag® magnetic technology, which provides maximum precision and resolution for a singleturn encoder. -
Page 17: Scaling
ST-resolution). The value corresponds to 360°. That is, if a value of 3600 Cts is parametrized, the encoder outputs the position in 0.1° steps (see equation (2)). �������� = ���� = 3600 ������ ���������� ���� ������ �������������������� 360° �������������� ���������� = = 0,1°/������ �������� 3600 ������ © Wachendorff Automation GmbH & Co. KG... - Page 18 3600 Cts, since the result would otherwise be the number of revolutions of the encoder shaft and not the faster shaft of the system. • It should be noted that measurement errors will occur if the result of this formula is a decimal. © Wachendorff Automation GmbH & Co. KG...
-
Page 19: Connection Assignments For Ethernet/Ip Encoders
Pin assignment Pin assignment Pin assignment BI2. BI2. Port M12x1, Connector M12x1, Port M12x1, (Port1) 4-pole, (Power) 4-pole, (Port2) 4-pole, D-coded A-coded D-coded n. c. n. c. Table 3.1: Connection assignment — BI2 © Wachendorff Automation GmbH & Co. KG... -
Page 20: Leds And Signalling
Major unrecoverable fault The device has detected a major unrecoverable fault. (Please contact support) Table 3.2: LED signal Explanation of symbols and asterisks: / / LED off LED on LED flashing © Wachendorff Automation GmbH & Co. KG... -
Page 21: Mac Address And Ip Address
WDGA with EtherNet/IP 3.6 MAC address and IP address Wachendorff EtherNet/IP encoders have three MAC addresses. These always start with D4-90-E0-xx-xx-xx. The number depends on the number of ports on the integrated three-port switch. There is one MAC address each for Port1 and Port2, as well as one MAC address for the "internal port"... -
Page 22: Ethernet/Ip
Table 4.1: Functions 4.2 List of all classes Code Class Instance Identity Message Router Assembly Connection Manager Position Sensor Object Device Level Ring TCP/IP Interface Ethernet Link Table 4.2: List of all classes © Wachendorff Automation GmbH & Co. KG... -
Page 23: Process And Configuration Data
Config (110): Preset + MUPR + TMR + Gear ratio multiplier + Gear ratio divisor + Velocity Format + Direction Counting Toggle + Scaling enable + Preset execute Table 4.3: Process data overview © Wachendorff Automation GmbH & Co. KG... -
Page 24: Process Data Assembly 1
Position value (scaled). The position value calculation is influenced by the Position following functions, among others: MUPR, TMR, scaling Position function, offset, preset, gear ratio if applicable. Position MSB Table 4.4: Assembly 1 © Wachendorff Automation GmbH & Co. KG... -
Page 25: Process Data Assembly 2
MUPR, TMR, scaling Position function, offset, preset, gear ratio if applicable. Position MSB Alar 0 if there are no ning warnings or alarms, Flag Flag otherwise correspondingly 1 Table 4.5: Assembly 2 © Wachendorff Automation GmbH & Co. KG... -
Page 26: Process Data Assembly 3
Position MSB Velocity LSB Velocity value. The velocity value is influenced by the following functions, Velocity among others: Velocity Format, Velocity Resolution Velocity Velocity MSB Table 4.6: Assembly 3 © Wachendorff Automation GmbH & Co. KG... -
Page 27: Process Data Assembly 100
0 if within the defined limit range, otherwise correspondingly 1 CAM state register Software camshafts. 0 if within the defined limit range, otherwise correspondingly 1 Status See Table 4.8 Table 4.7: Assembly 100 © Wachendorff Automation GmbH & Co. KG... -
Page 28: Process Data Assembly 101
Velocity MSB Position State register Software end positions switch. 0 if within the defined limit range, otherwise correspondingly 1 CAM State register Software camshafts. 0 if within the defined limit range, otherwise correspondingly 1 © Wachendorff Automation GmbH & Co. KG... -
Page 29: Table 4.8: Assembly 101
0011: No connection 0100: Configuration error 0101: Major fault 0110: Min. one connection in run 0111: Min. one connection, all in idle 1000: reserved 1001: reserved 1111: Sensor error Table 4.8: Assembly 101 © Wachendorff Automation GmbH & Co. KG... -
Page 30: Configuration Assembly 110
360° of the encoder shaft is resolved. MUPR MSB TMR LSB Total Measuring Range. TMR defines the total measuring range encoder, i.e. after how many increments the position value rolls over to 0. © Wachendorff Automation GmbH & Co. KG... -
Page 31: Table 4.9: Config Assembly 110
Bit 1: Scaling enable determines whether scaling is on or off. Bit 2: Preset execute defines whether a preset is executed or not. Table 4.9: Config Assembly 110 © Wachendorff Automation GmbH & Co. KG... -
Page 32: Class Attributes
Product name as ASCII string. State USINT Current state of the device. 0: Non-existent 1: Self test 2: Standby 3: Ready for operation 4: Major Recoverable Fault 5: Major Unrecoverable Fault Table 4.10: Identity Object © Wachendorff Automation GmbH & Co. KG... -
Page 33: Position Sensor Object 23H
If 1: Position value (attr. 3) = (physical resolution encoder) * (MUPR (attr. 16) / Physical Resolution Span (attr. 42)) Measuring Units UDINT See: Table 4.9 per span Total Measuring UDINT See: Table 4.9 Range Measuring Units © Wachendorff Automation GmbH & Co. KG... - Page 34 Physical Resolution UDINT The maximum number of steps Span per revolution is shown here. = 10000h Number of spans UINT Specifies how many revolutions can be measured. ST = 1 MT = FFFFh © Wachendorff Automation GmbH & Co. KG...
- Page 35 Bit 10: Position Limits Exceeded Bit 11...12: reserved 13...15: manufacturer specific Warning Flag BOOL This flag signals when a warning error occurred. corresponds to a logical OR of all alarm bits of attribute 47. © Wachendorff Automation GmbH & Co. KG...
- Page 36 Example rotary table: Gear encoder: 12 teeth Driven rotary table: 250 teeth One revolution of the rotary table should be mapped to 100000 steps. If the driven rotary table rotates once, then the encoder shaft © Wachendorff Automation GmbH & Co. KG...
- Page 37 CAM channel. By default, the polarity is set so that all cam positions "jump" to High (= 1b) at position values in their limits. By changing the individual bits, the © Wachendorff Automation GmbH & Co. KG...
- Page 38 CAM hysteresis 7 UINT See above CAM hysteresis 8 UINT See above Preset execute BOOL If the preset value has been set once in attribute 19, then you can execute the preset again via © Wachendorff Automation GmbH & Co. KG...
-
Page 39: Table 4.11: Position Sensor Object
The following example shows a CAM-state-register with the value 89h: Position 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 4.12: CAM state register © Wachendorff Automation GmbH & Co. KG... -
Page 40: Table 4.13: Cam State Register
0(LSB) Type CAM 8 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 4.15: CAM polarity register © Wachendorff Automation GmbH & Co. KG... - Page 41 The width of the hysteresis of the switch-over points is defined via the CAM hysteresis. For each individual cam switch position (CAM 1 ... CAM 8) a separate CAM hysteresis can be set (see attributes 132d - 139d). © Wachendorff Automation GmbH & Co. KG...
-
Page 42: Webserver
Once you have done this, the start page (Information - Overview) of the encoder opens. In the following subchapters we will show you the different views of the web server and explain the possible functions. © Wachendorff Automation GmbH & Co. KG... -
Page 43: Information
You can switch the language of the web server after the call. After switching in a sub-mask, the web server starts again in the start mask. © Wachendorff Automation GmbH & Co. KG... -
Page 44: Versions
5 - Webserver WDGA with EtherNet/IP 5.2.2 Versions Figure 5.2: Versions Here you can find the information of each version status like: • Applikation • SDAI • Stack • MAC • Sensor • U2A © Wachendorff Automation GmbH & Co. KG... -
Page 45: Configuration
Here you can change the device name, IP address, network mask and gateway. • Please make sure that you only change the data when the plant is shut down. 5.3.2 Encoder Figure 5.4: Encoder © Wachendorff Automation GmbH & Co. KG... -
Page 46: Firmware Update
• Do not cut off the power supply or disconnect the network cable while performing a firmware update. To update the firmware of the encoder, choose the correct .bin file by clicking the “Browse…”-Button (see Figure 5.6: Firmware update - choose file). © Wachendorff Automation GmbH & Co. KG... -
Page 47: Figure 5.6: Firmware Update - Choose File
Technical Manual 5 - Webserver WDGA with EtherNet/IP Figure 5.6: Firmware update - choose file © Wachendorff Automation GmbH & Co. KG... -
Page 48: Figure 5.7: Firmware Update - Transferring File
After the firmware update is successfully finished, you will see it on the website like in Figure 5.8. Perform now a power reset and check under “Information -> Versions”, if the new firmware version is shown. Figure 5.8: Firmware update - Successful © Wachendorff Automation GmbH & Co. KG... -
Page 49: Licence Information
Figure 5.10: Licence information This view contains the current safety instructions as well as software packages containing firmware. You can download the source code of these packages using the link on this website. © Wachendorff Automation GmbH & Co. KG... -
Page 50: Contact
Technical Manual 5 - Webserver WDGA with EtherNet/IP 5.5 Contact Figure 5.11: Contact information Contact information for additional product information and technical support is listed here. © Wachendorff Automation GmbH & Co. KG... -
Page 51: Commissioning
6 Commissioning 6.1 General This chapter shows a configuration example of the Wachendorff EtherNet/IP encoder. The example is carried out with the Rockwell Studio 5000 software (Ver. 32.00). The device is in DHCP mode by default, we recommend to perform the commissioning with the tools installed in the course of Studio 5000. -
Page 52: Figure 6.2: Set Ip Address And Device Name
Figure 6.2: Set IP address and device name If the IP address was assigned successfully, then a confirmation appears in the Errors and Warnings window. Figure 6.3: IP address and device name successfully set © Wachendorff Automation GmbH & Co. KG... -
Page 53: Figure 6.4: Dhcp Deactivated
"Errors and Warnings". Figure 6.4: DHCP deactivated Now use a browser of your choice and check if the web server is reachable. Figure 6.5: Webserver available © Wachendorff Automation GmbH & Co. KG... -
Page 54: Activating Dhcp Mode
After you have added the device, select it and click on "Enable BOOTP/DHCP". A confirmation is now displayed again in the "Errors and Warnings" window. Thus your device is in DHCP mode again. Figure 6.7: DHCP activated © Wachendorff Automation GmbH & Co. KG... -
Page 55: Integration Into A Studio 5000 Project
You can download it from the download area of our website. To do this, open the "Tools" tab and select the "EDS Hardware Installation Tool" menu. Figure 6.9: Tools -> EDS Hardware Installation Tool © Wachendorff Automation GmbH & Co. KG... -
Page 56: Figure 6.10: Eds Hardware Installation Tool
Select "Register and EDS file(s)" and click "Next" again. Figure 6.11: Register EDS file Next, select "Register a single file" and paste the path of the EDS file. Then click on "Next" again.. Figure 6.12: Pick EDS file © Wachendorff Automation GmbH & Co. KG... -
Page 57: Figure 6.13: Eds Installation
Figure 6.14: Installation successful Now select the tab "A1/A2, Ethernet" in the left column of the Studio 5000 project navigation. The hardware view opens, and the hardware catalogue is now visible in the new window. © Wachendorff Automation GmbH & Co. KG... -
Page 58: Figure 6.15: Project Navigation
6 - Commissioning WDGA with EtherNet/IP Figure 6.15: Project navigation Search for "wdga" in the search bar and the WDGA-EP should now be displayed. Select the device and then click "Create". Figure 6.16: Hardware catalogue © Wachendorff Automation GmbH & Co. KG... -
Page 59: Figure 6.17: General
Under the "Connection" tab you can now set the cycle time (RPI) and the "Connection over EtherNet/IP". Now click on "OK". The encoder should now be displayed in the left column of the project navigation. © Wachendorff Automation GmbH & Co. KG... -
Page 60: Figure 6.19: Encoder Configuration Successful
Technical Manual 6 - Commissioning WDGA with EtherNet/IP Figure 6.19: Encoder configuration successful © Wachendorff Automation GmbH & Co. KG... -
Page 61: Figure 6.20: Position Value
This concludes the integration of the encoder into the project for the time being. The following chapters will explain how you can configure the encoder according to your preferences. Two ways are shown for this. © Wachendorff Automation GmbH & Co. KG... -
Page 62: Parameterization Via Configuration Assembly
This loads the assemblies 101 and 110 into the controller tags. Assembly 101 is used to view the process data, while Assembly 110 is used for configuration. Now navigate to the controller tags. Under "WDGA_EP:C" you will find the parameters to be set. © Wachendorff Automation GmbH & Co. KG... -
Page 63: Figure 6.22: Controller Tags
9 to FFh and bytes 12-15 also to FFh. In addition, you must set byte 26 to the value 06h, otherwise the preset will not be executed (bit 2 of byte 26 contains the preset execute). © Wachendorff Automation GmbH & Co. KG... -
Page 64: Figure 6.24: Example Configuration
(preferably voltage reset). Then check, for example in the web server, whether your parameters have been saved. Figure 6.25: Encoder information If all values have been accepted, the device is now fully commissioned and can be used. © Wachendorff Automation GmbH & Co. KG... -
Page 65: Parameterization Via Explicite Messaging
Then navigate back to your previously created program. Select "Parameters and Local tags" there. Figure 6.27: Parameters and tags Now create the following tags to perform an example configuration: Send_MSG_TMR (Message) Send_MSG_TMR (Message) Send_MSG_Preset (Message) Send_MSG_Scaling (Message) TMR_value (DINT) © Wachendorff Automation GmbH & Co. KG... -
Page 66: Figure 6.28: Parameters And Tags
Now switch back to your main program. First select the main strand and add a closer (XIC) using the key combination Alt + Ins. Figure 6.29: Rung edit Then add a One Shot (ONS) by pressing Alt + Ins again. Figure 6.30: Rung edit © Wachendorff Automation GmbH & Co. KG... -
Page 67: Figure 6.31: Rung Edit
TMR. Then click on the text box labeled "..." to enter the configuration of the MSG block. Figure 6.31: Rung edit Configure the MSG block as shown in the figure below. Figure 6.32: Rung edit © Wachendorff Automation GmbH & Co. KG... -
Page 68: Figure 6.33: Msg Block Configuration
Technical Manual 6 - Commissioning WDGA with EtherNet/IP Figure 6.33: MSG block configuration Under the "Communication" tab, select the encoder as the path. Figure 6.34: MSG block path configuration © Wachendorff Automation GmbH & Co. KG... -
Page 69: Figure 6.35: Configure Main Program
10 revolutions and have the position value start at 0, then make the following settings. Figure 6.36: Parameters and tags Now switch back to your main program and activate the "Execute" closer by selecting it and pressing Ctrl + T. © Wachendorff Automation GmbH & Co. KG... -
Page 70: Figure 6.37: Configuration Successful
Figure 6.37: Configuration successful If everything was successful, then each MSG block is in DN state. Check your settings by looking at the web server, for example. Figure 6.38: Webserver after successful configuration © Wachendorff Automation GmbH & Co. KG... -
Page 71: Further Exemplary Configuration Options
To use these, proceed as described in Chapter 6.4.2. Select the desired values for the limits, e.g. Low Limit = 500, High Limit = 1500. Configure the messages as shown below. Figure 6.39: Message position low limit © Wachendorff Automation GmbH & Co. KG... -
Page 72: Figure 6.40: Msg Position High Limit
Technical Manual 6 - Commissioning WDGA with EtherNet/IP Figure 6.40: MSG position high limit Then navigate to the encoder configuration and select Assembly 100. Figure 6.41: Assembly 100 © Wachendorff Automation GmbH & Co. KG... -
Page 73: Preset Attribut 140H
If you have already executed a preset, as explained in Chapter 6.4.2, you can use "preset execute" to set the position value to the previously defined preset value again. Proceed as explained in the previous chapters. © Wachendorff Automation GmbH & Co. KG... -
Page 74: Technical Data
700 g WDGA 58E: approx. 410 g WDGA 58A: approx. 700g WDGA 58D: approx. 700g Housing Flange material: Aluminium Flange material (rear): Steel housing, chromium- plated, magnetically shielded Connection hood: Die-cast aluminium, powder- coated © Wachendorff Automation GmbH & Co. KG... -
Page 75: Dimensions
*option full IP67 version: D = 10 mm D = 10, L = 20, d = 9 shaft with flat Figure 7.1: Dimensions WDGA 58B 7.2.2 WDGA 58F Figure 7.2: Dimensions WDGA 58F © Wachendorff Automation GmbH & Co. KG... -
Page 76: Wdga 58E
WDGA with EtherNet/IP 7.2.3 WDGA 58E D = 12, 14, 15 6, 6.35 (1/4”), 7, 8, 9.35 (3/8”), 10 with adapter sleeve Figure 7.3: Dimensions WDGA 58E 7.2.4 WDGA 58A Figure 7.4: Dimensions WDGA 58A © Wachendorff Automation GmbH & Co. KG... -
Page 77: Wdga 58D
Technical Manual 7 - Technical data WDGA with EtherNet/IP 7.2.5 WDGA 58D Figure 7.5: Dimension WDGA 58D © Wachendorff Automation GmbH & Co. KG... -
Page 78: Technical Support
Technical application advisor 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 E-Mail: support-wa@wachendorff.de Notes: © Wachendorff Automation GmbH & Co. KG...
Need help?
Do you have a question about the WDGA58E and is the answer not in the manual?
Questions and answers