Wachendorff WDGA 36A handleiding
Handleiding
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Technical Manual
WDGA with CANopen Interface
8 - Setting-up the encoder
© Wachendorff Automation GmbH & Co. KG
46
Table 8.14 shows the overview of the command values:
Command
Type
Description
22h
Write command
Parameter to encoder
23h
Write command
4 Byte Parameter to encoder
27h
Write command
3 Byte Parameter to encoder
2Bh
Write command
2 Byte Parameter to encoder
2Fh
Write command
1 Byte Parameter to encoder
60h
Acknowledge
Parameter received
40h
Read command
Parameter from Encoder
42h
Response
Parameter to SDO master
43h
Response
4 Byte Parameter to SDO master
47h
Response
3 Byte Parameter to SDO master
4Bh
Response
2 Byte Parameter to SDO master
4Fh
Response
1 Byte Parameter to SDO master
80h
Abort code
Failure / Failure code
41h
Response
SDO segmented transfer started (see CiA 301)
Table 8.14: Command definitions
Writing an object:
Figure 8.2: write object
The following example shows the structure of a SDO telegram:
Master sends 1 byte of data (d1) to the Encoder:
600h+ID
8
2Fh
00h
21h
00h
d1
00h
00h
00h
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.15: Example SDO send by master
The encoder acknowledges without data bytes:
580h+ID
8
2Fh
00h
21h
00h
00h
00h
00h
00h
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.16: Example SDO answer
Table 8.14 shows the overview of the available commands.
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Productinformatie
| Merk | Wachendorff |
| Model | WDGA 36A |
| Categorie | Niet gecategoriseerd |
| Taal | Nederlands |
| Grootte | 11685 MB |
