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Wachendorff WDGA 58B Manuals
Manuals and User Guides for Wachendorff WDGA 58B. We have
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Wachendorff WDGA 58B manuals available for free PDF download: Technical Manual
Wachendorff WDGA 58B Technical Manual (78 pages)
absolute rotary encoders with Ethernet/IP interface
Brand:
Wachendorff
| Category:
Media Converter
| Size: 3.9 MB
Table of Contents
Table of Contents
3
Introduction
9
About this Manual
9
Symbols
10
You will Not Find the Following in this Manual
10
Product Assignment
11
Specifications
12
Scope of Delivery
12
Safety Information
13
General Safety Information
13
Intended Use
13
Safe Working
14
Disposal
14
Device Description
15
General Information
15
Ethernet/Ip
15
WDGA - Basic Principles
15
Figure 3.1: WDGA with Ethernet/Ip Bus Cover
15
Singleturn - ST (Quattromag®)
16
Multiturn - MT (Endra®)
16
Direction of Rotation
16
Preset
16
Scaling
17
Connection Assignments for Ethernet/Ip Encoders
19
BI2 - Bus Cover with 3X M12X1
19
Table 3.1: Connection Assignment - BI2
19
Leds and Signalling
20
Table 3.2: LED Signal
20
MAC Address and IP Address
21
Ethernet/Ip
22
Functions Overview
22
List of All Classes
22
Table 4.1: Functions
22
Table 4.2: List of All Classes
22
Process and Configuration Data
23
Process Data Overview (Assemblies)
23
Table 4.3: Process Data Overview
23
Process Data Assembly 1
24
Table 4.4: Assembly 1
24
Process Data Assembly 2
25
Table 4.5: Assembly 2
25
Process Data Assembly 3
26
Table 4.6: Assembly 3
26
Process Data Assembly 100
27
Table 4.7: Assembly 100
27
Process Data Assembly 101
28
Table 4.8: Assembly 101
29
Configuration Assembly 110
30
Figure 5.4: Encoder
30
Table 4.9: Config Assembly 110
31
Class Attributes
32
Identity Object 01H
32
Table 4.10: Identity Object
32
Position Sensor Object 23H
33
Table 4.11: Position Sensor Object
39
Table 4.12: CAM State Register
39
Table 4.13: CAM State Register
40
Table 4.14: CAM Enable Register
40
Table 4.15: CAM Polarity Register
40
Webserver
42
General
42
Information
43
Overview
43
Figure 5.1: Overview
43
Versions
44
Figure 5.2: Versions
44
Configuration
45
Network
45
Encoder
45
Figure 5.3: Network
45
Firmware Update
46
Figure 5.5: Firmware Update
46
Figure 5.6: Firmware Update - Choose File
47
Figure 5.7: Firmware Update - Transferring File
48
Figure 5.8: Firmware Update - Successful
48
Licence Information
49
Figure 5.9: Firmware Update - Failed
49
Figure 5.10: Licence Information
49
Contact
50
Figure 5.11: Contact Information
50
Commissioning
51
General
51
Deactivating DHCP Mode and Assigning an IP Address
51
Figure 6.1: Bootp-DHCP-Tool
51
Figure 6.2: Set IP Address and Device Name
52
Figure 6.3: IP Address and Device Name Successfully Set
52
Figure 6.4: DHCP Deactivated
53
Figure 6.5: Webserver Available
53
Activating DHCP Mode
54
Figure 6.6: Set MAC and IP Address
54
Figure 6.7: DHCP Activated
54
Integration into a Studio 5000 Project
55
Figure 6.8: Main Menu
55
Figure 6.9: Tools -> EDS Hardware Installation Tool
55
Figure 6.10: EDS Hardware Installation Tool
56
Figure 6.11: Register EDS File
56
Figure 6.12: Pick EDS File
56
Figure 6.13: EDS Installation
57
Figure 6.14: Installation Successful
57
Figure 6.15: Project Navigation
58
Figure 6.16: Hardware Catalogue
58
Figure 6.17: General
59
Figure 6.18: Choose Assembly
59
Figure 6.19: Encoder Configuration Successful
60
Figure 6.20: Position Value
61
Parameterization Via Configuration Assembly
62
Figure 6.21: Module Definition
62
Figure 6.22: Controller Tags
63
Figure 6.23: Configuration Assembly
63
Figure 6.24: Example Configuration
64
Figure 6.25: Encoder Information
64
Parameterization Via Explicite Messaging
65
Figure 6.26: Example New Program
65
Figure 6.27: Parameters and Tags
65
Figure 6.28: Parameters and Tags
66
Figure 6.29: Rung Edit
66
Figure 6.30: Rung Edit
66
Figure 6.31: Rung Edit
67
Figure 6.32: Rung Edit
67
Figure 6.33: MSG Block Configuration
68
Figure 6.34: MSG Block Path Configuration
68
Figure 6.35: Configure Main Program
69
Figure 6.36: Parameters and Tags
69
Table 6.1: Configurations
69
Figure 6.37: Configuration Successful
70
Figure 6.38: Webserver after Successful Configuration
70
Further Exemplary Configuration Options
71
Position Limits
71
Figure 6.39: Message Position Low Limit
71
Figure 6.40: MSG Position High Limit
72
Figure 6.41: Assembly 100
72
Preset Attribut 140H
73
Figure 6.42: Position State Register Inside Work Are
73
Figure 6.43: Position State Register Outside Work Area
73
Technical Data
74
Properties
74
Dimensions
75
Wdga 58B
75
Wdga 58F
75
Figure 7.1: Dimensions WDGA 58B
75
Figure 7.2: Dimensions WDGA 58F
75
Wdga 58E
76
Wdga 58A
76
Figure 7.3: Dimensions WDGA 58E
76
Figure 7.4: Dimensions WDGA 58A
76
Wdga 58D
77
Figure 7.5: Dimension WDGA 58D
77
Technical Support
78
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Wachendorff WDGA 58B Technical Manual (69 pages)
Absolute rotary encoders with EtherCAT interface
Brand:
Wachendorff
| Category:
Media Converter
| Size: 2.75 MB
Table of Contents
Table of Contents
3
1 Introduction
9
About this Manual
9
Explanation of Symbols
10
What You will Not Find in this Manual
10
Product Assignment
11
Description of Services
11
Supplied Package
12
2 Safety Information
13
General
13
Correct Use
13
Safe Working
14
Disposal
14
3 Description of the Equipment
15
General
15
Ethercat
15
Principles of WDGA
16
Single-Turn - ST (Quattromag®)
17
Multi-Turn - MT (Endra®)
17
Direction of Revolution
17
Preset
17
Scaling
17
Things to Consider When Connecting Ethercat Encoders
19
BI2 - Bus Cover with 3 X M12X1
19
Table 3.1: Pin Assignment
19
Leds and Signalling
20
Table 3.2: LED Signals
21
MAC Address and IP Address
22
4 Ethercat
23
Summary of Functions
23
Communication Protocols
23
CAN over Ethercat (Coe)
23
General
23
Table 4.1: Summary of the Encoder's Functions
23
Table 4.2: Communication Protocols
23
Communication-Specific Objects
24
Table 4.3: Object Directory 1000H - 1018H
24
Table 4.4: Object Directory 10F3H - 1A00H
25
Table 4.5: Object Directory 1A01H - 1C00H
26
1000H - Device Type
27
1001H - Error Register
27
Table 4.6: 1001H - Error Register
27
Table 4.6: Object Directory 1C13H - 1C33H
27
1008H - Manufacturer Device Name
28
1010H - Store Parameters
28
1011H - Restore Parameters
28
Table 4.7: 1001H - Parameter Storage Options
28
Table 4.8: 1011H - Parameters Loading Options
28
1018H - Identity Object
29
10F3H - Diagnosis History
29
1A00H - 1St TPDO Mapping Parameter
29
Table 4.10: 1010H - Identity Object
29
Table 4.11: 1St Transmit PDO Default Mapping (Ethercat Object 1A00H)
29
Table 4.9: 1018H - Identity Object
29
1A01H - 2Nd TPDO Mapping Parameter
30
Table 4.12: Setup of Sub-Index 01
30
Table 4.13: 2Nd Transmit PDO Default Mapping (Ethercat Object 1A01H)
30
1C00H - Sync Manager Communication Type
31
1C13H - Sync Manager 3 PDO Assignment
31
1C33H - Sync Manager 3 Synchronisation
32
Table 4.17: Sync Manager 3 Synchronisation (Ethercat Objekt 1C33H)
32
Manufacturer-Specific Objects
33
Table 4.16: Manufacturer-Specific Objects 2105H - 2902H
33
2105H - Integration Values
34
2107H - Frequency Limit
34
2120H - Customer Flash Area
34
2900H - IP Address
34
2901H - Subnet Mask
34
2902H - Gateway
34
Table 4.17: Integration Values (Ethercat Object 2105H)
34
Table 4.18: Frequency Limit (Ethercat Object 2107H)
34
Encoder-Specific Objects
35
Table 4.19: Device-Specific Objects 6000H - 6031H
35
Table 4.20: Device-Specific Objects 6009H - 6310H
36
Table 4.21: Device-Specific Objects 6311H - 6321H
37
Table 4.22: Device-Specific Objects 6322H - 6332H
38
Table 4.23: Device-Specific Objects 6337H - 6402H
39
Table 4.24: Device-Specific Objects 6410H - 6508H
40
Table 4.25: Device-Specific Objects 6509H - 6510H
41
6000H - Operating Parameters
42
6001H - Measuring Units Per Revolution
42
6002H - Total Measuring Range
42
Table 4.26: Direction of Revolution and Scaling Parameters
42
6003H - Preset Value
43
6004H - Position Value
43
6008H - High-Precision Position Value
43
6009H - High-Precision Preset Value
43
600Ah - High-Resolution Total Measuring Range
43
600Bh - High-Resolution Position Raw Value
43
600Ch - Position Raw Value
43
6030H - Speed Value
43
6031H - Speed Parameters
44
6300H - CAM State Register
44
Table 4.27: Speed Selector
44
Table 4.28: CAM State Register - Value 89H
44
6301H - CAM Enable Register
45
6302H - CAM Polarity Register
45
Table 4.29: CAM State Register - Value 81H
45
Table 4.30: CAM Enable Register - Value 4Ah
45
Table 4.31: Example of the CAM Polarity Register
45
6310H
46
6350H
46
6360H
46
6400H - Work Area State Register
47
6401H - Work Area Low Limit
47
6402H - Work Area High Limit
47
6410H - High-Resolution Area State Register
47
6411H - High-Resolution Work Area Low Limit
47
6412H - High-Resolution Work Area High Limit
47
6500H - Operating Status
47
6501H - Single-Turn Resolution
48
6502H - Number of Distinguishable Revolutions
48
6503H - Alarms
48
6504H - Supported Alarms
48
Table 4.32: 6503H - Alarms
48
6505H - Warnings
49
6506H - Supported Warnings
49
6507H - Profile and Software Version
49
Table 4.33: Signal Description
49
Table 4.34: Example of Profile Software Version
49
6508H - Operating Time
50
6509H - Offset Value
50
650Ah - Module Identification
50
650Bh - Serial Number
50
650Dh - Absolute Accuracy
50
650Eh - Device Capability
50
650Fh - Offset Value for High-Resolution Encoder
50
6510H - Number of High-Precision Revolutions
51
5 Web Server (CAUTION)
52
General
52
Information
53
Summary
53
Diagnosis
54
Versions
55
Configuration
56
Network
56
Encoder
57
Firmware Update
58
Licence Information
61
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