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Manuals and User Guides for Wachendorff WDGA 58E. We have
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Wachendorff WDGA 58E manual available for free PDF download: Technical Manual
Wachendorff WDGA 58E Technical Manual (69 pages)
Absolute rotary encoders with EtherCAT interface
Brand:
Wachendorff
| Category:
Media Converter
| Size: 2 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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