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
58
There are five different types of transmission for every PDO:
Sub-Index 2
Sub-Index 5
Description
01h-F0h
n.n.
PDO synchronous / on a SYNC
FFh
0000h
PDO disabled
FEh
0001h-FFFFh
PDO asynchronous / triggered by
event timer AND change in position
value
FEh
0000h
PDO asynchronous / triggered by
change of position value
FFh
0001h-FFFFh
PDO asynchronous / triggered by
event timer
Table 8.46: Selectable PDO transmission types
• Parameters can be changed in Pre-Operational only and have
to be saved into EEPROM!
To completely disable a PDO, you have to change the MSB of the PDO-COBID object:
PDO
Object
COB-ID object PDO enabled
COB-ID object PDO disabled
1
1800h
4000 0181h
C000 0181h
2
1801h
4000 0281h
C000 0281h
3
1802h
4000 0381h
C000 0381h
4
1803h
4000 0481h
C000 0481h
Table 8.47: PDO-Deactivation
For example PDO1 shall be disabled by this SDO write command:
600h+ID
8
23h
00h
18h
01h
81h
01h
00h
C0h
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.48: Example - PDO1 deactivation
• Advanced parameterisation of the PDO COB-ID (objects
1800h-01h, objects 1801h-01h, objects 1802h-01h, objects
1803h-01h) is possible. As long as no "save communication
objects" or "save all parameters" has been performed, a
change of the node ID will automatically effect the COB IDs.
• After a save command, the PDO COB-IDs have to be
changed manually or perform a "restore all parameters".
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Productinformatie
| Merk | Wachendorff |
| Model | WDGA 58V |
| Categorie | Niet gecategoriseerd |
| Taal | Nederlands |
| Grootte | 11685 MB |
