Wachendorff WDGA 36J handleiding

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Handleiding

Technical Manual 
WDGA with CANopen Interface 
Index of tables 
 
 
© Wachendorff Automation GmbH & Co. KG 
VI 
 
 
Index of tables 
Table 3.1: CAN-Identifier ............................................................................................ 5 
Table 4.1: SYNC-message ......................................................................................... 8 
Table 4.2: SDO-write command to set Node-ID ......................................................... 9 
Table 4.3: Node-ID in decimal and hexadecimal ........................................................ 9 
Table 5.1: CAN baud rates und recommended cable length limits ........................... 13 
Table 5.2: Draft Standards ........................................................................................ 14 
Table 5.3: Structure of the object dictionary ............................................................. 15 
Table 5.4: Available communication – Pre-Operational ............................................ 16 
Table 5.5: Available communication – Operational ................................................... 17 
Table 5.6: Available communication – Stopped ........................................................ 17 
Table 6.1: Object dictionary 1000h – 100Dh ............................................................. 19 
Table 6.2: Object dictionary 1010h – 1020h ............................................................. 20 
Table 6.3: Object dictionary 1029h – 1A01h ............................................................. 21 
Table 6.4: Object dictionary 1A02h – 1F80h ............................................................. 22 
Table 6.5: Device specific objects 6000h –6008h ..................................................... 22 
Table 6.6: Device specific objects 6009h –6310h ..................................................... 23 
Table 6.7: Device specific objects 6311h –6322h ..................................................... 24 
Table 6.8: Device specific objects 6323h –6334h ..................................................... 25 
Table 6.9: Device specific objects 6335h –6504h ..................................................... 26 
Table 6.10: Device specific objects 6505h –6510h ................................................... 27 
Table 6.11: manufacturer specific objects 2100h –2500h ........................................ 28 
Table 6.12: manufacturer specific objects 2502h –2504h ........................................ 29 
Table 7.1: Structure of NMT-command..................................................................... 30 
Table 7.2: Commands for NMT-command................................................................ 30 
Table 7.3: Node-ID values for NMT-commands ....................................................... 30 
Table 7.4: monitor external heartbeat ....................................................................... 31 
Table 7.5: Example configuration of a consumer heartbeat...................................... 31 
Table 7.6: Basic structure of an EMCY ..................................................................... 32 
Table 7.7: Emergency error code list ........................................................................ 32 
Table 7.8: Error register ............................................................................................ 32 
Table 7.9: Info field list .............................................................................................. 33 
Table 7.10: Manufacturer status register .................................................................. 33 
Table 7.11: Alarms - Object 6503h ........................................................................... 34 
Table 7.12: Warnings – Object 6505h ...................................................................... 34 
Table 7.13: CAM-state-register – Value 89h ............................................................. 34 
Table 7.14: CAM-state-register – Value 81h ............................................................. 34 
Table 7.15: CAM-enable-register – Value 4Ah ......................................................... 35 
Table 7.16: Example CAM-polarity-register .............................................................. 35 
Table 7.17: Selection of encoder reaction on errors ................................................. 37 
Table 7.18: Selection of start-up behaviour .............................................................. 37 
Table 8.1: Pin and cable assignment ........................................................................ 40 
Table 8.2: LSS-message .......................................................................................... 41 
Table 8.3: Command to set encoder “Stopped“-Mode .............................................. 41 
Table 8.4: LSS-Selective-Identification-Commands ................................................. 42 
Table 8.5: Answer of encoder to LSS-Selective-Identification-Commands ............... 42 

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