Wachendorff WDGA 58V handleiding
Handleiding
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Technical Manual
WDGA with CANopen Interface
8 - Setting-up the encoder
© Wachendorff Automation GmbH & Co. KG
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8.4 Heartbeat settings
To configure and start the producer heartbeat (e.g. heartbeat every 5000 milliseconds;
5000d=1388h) use SDO on object 1017h:
600h+ID
8
2Bh
17h
10h
00h
88h
13h
00h
00h
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.42: Example of heartbeat setting
This is the structure of a heartbeat message:
700h+ID
1
d
NMT-Status
CAN-ID
DLC
Data/Remote
Byte 0
Table 8.43: Structure of heartbeat message
NMT-state:
NMT-Status
Code
Boot-up
00h
Stopped
04h
Pre-Operational
7Fh
Operational
05h
Table 8.44: Heartbeat NMT-state-coding
8.5 PDO Configuration
8.5.1 PDO parameters
Four PDOs can be parameterised. The configuration of the PDO payload is called
"PDO mapping". The default configuration is:
Object
PDO
Default configuration (scheduling)
“Mapped” process data
1800h
PDO1
asynchronous / on change of position
value
Position-value
1801h
PDO2
synchronous / on every SYNC
Position-value
1802h
PDO3
synchronous / on every SYNC
High Precision-value
1803h
PDO4
disabled
Table 8.45: Default PDO configuration
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Productinformatie
| Merk | Wachendorff |
| Model | WDGA 58V |
| Categorie | Niet gecategoriseerd |
| Taal | Nederlands |
| Grootte | 11685 MB |
