Wachendorff WDGA 36E handleiding

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Wachendorff

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Handleiding

Technical Manual 
WDGA with CANopen Interface 
Index of tables 
 
 
© Wachendorff Automation GmbH & Co. KG 
VII 
 
 
Table 8.6: End LSS configuration mode – Step 1 - store parameters ....................... 43 
Table 8.7: End LSS configuration mode – Step 2 - Leave configuration mode......... 43 
Table 8.8: set Baudrate ............................................................................................ 43 
Table 8.9: Baudrate-Coding ...................................................................................... 43 
Table 8.10: Answer of LSS-slave ............................................................................. 44 
Table 8.11: set Node-ID............................................................................................ 44 
Table 8.12: Example SDO master to encoder .......................................................... 45 
Table 8.13: Example SDO answer ........................................................................... 45 
Table 8.14: Command definitions ............................................................................. 46 
Table 8.15: Example SDO send by master ............................................................... 46 
Table 8.16: Example SDO answer ........................................................................... 46 
Table 8.17: SDO read request on object 6008h ....................................................... 47 
Table 8.18: Declaration of used abbreviations in Figure 8.4 ..................................... 48 
Table 8.19: Confirm SDO read access of object 6008h ............................................ 48 
Table 8.20: Declaration of used abbreviations in Figure 8.5 ..................................... 49 
Table 8.21: read of first segment .............................................................................. 49 
Table 8.22: answer with first segment ...................................................................... 49 
Table 8.23: Request next segment ........................................................................... 50 
Table 8.24: Answer with next segment ..................................................................... 50 
Table 8.25: SDO write access of object 6009h ......................................................... 51 
Table 8.26: Acknowledgement of write access of object 6009h ............................... 51 
Table 8.27: Declaration of used abbreviations in Figure 8.7 ..................................... 52 
Table 8.28: send first segment ................................................................................. 52 
Table 8.29: Acknowledgement send by the encoder ................................................ 52 
Table 8.30: Declaration of used abbreviations in Figure 8.8 ..................................... 53 
Table 8.31: send next segment ................................................................................ 53 
Table 8.32: Acknowledgement send by the encoder ................................................ 54 
Table 8.33: SDO command – set baudrate .............................................................. 54 
Table 8.34: Baudrate-coding .................................................................................... 54 
Table 8.35: Node-ID selection .................................................................................. 55 
Table 8.36: Valid Node-IDs ....................................................................................... 55 
Table 8.37: NMT command - Start remote node ...................................................... 56 
Table 8.38: NMT command - Stop remote node ....................................................... 56 
Table 8.39: NMT command - Enter Pre-Operational-state ....................................... 56 
Table 8.40: NMT command - Reset node communication ........................................ 56 
Table 8.41: NMT command - Reset remote node ..................................................... 56 
Table 8.42: Example of heartbeat setting ................................................................. 57 
Table 8.43: Structure of heartbeat message ............................................................. 57 
Table 8.44: Heartbeat NMT-state-coding.................................................................. 57 
Table 8.45: Default PDO configuration ..................................................................... 57 
Table 8.46: Selectable PDO transmission types ....................................................... 58 
Table 8.47: PDO-Deactivation .................................................................................. 58 
Table 8.48: Example - PDO1 deactivation ................................................................ 58 
Table 8.49: Parametrization of PDO1 Sub-Index 2 ................................................... 59 
Table 8.50: Parametrization of PDO1 Sub-Index 2 ................................................... 59 
Table 8.51: Parametrization of PDO1 Sub-Index 5 to 30ms ..................................... 59 
Table 8.52: Parametrization of PDO1 Sub-Index 2 ................................................... 60 

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