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
59
8.5.2 Synchronous PDO
A PDO can be configured for synchronous transmission, i.e. to respond on a SYNC
message. The sub index 2 of the transmission type parameter determines after which
number of SYNCs received the PDO will be transmitted. (e.g.: If set to 05h, the device
transmits only on every 5. SYNC). Here PDO1 is configured 01h in 1800h-02h:
600h+ID
8
2Fh
00h
18h
02h
01h
00h
00h
00h
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.49: Parametrization of PDO1 Sub-Index 2
Therefore transmission type for PDO1 is now synchronous. In Operational state the
PDO1 will be sent as a response on every SYNC message received.
8.5.3 Asynchronous PDO
Cyclic (triggered by internal event timer):
PDOs can be configured for asynchronous cyclic transmission.
Therefor the transmission type in object 1800h-02h (respectively 1801h-02h,
1802h-02h, 1803h-02h) has to be set to FFh. Sub index 5 of the same object is the
cycle time in milliseconds.
Example: PDO1 transmitting asynchronously cyclic:
600h+ID
8
2Fh
00h
18h
02h
FFh
00h
00h
00h
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.50: Parametrization of PDO1 Sub-Index 2
Example: PDO1 with a cycle time of 30 milliseconds (1Eh):
600h+ID
8
2Bh
00h
18h
05h
1Eh
00h
00h
00h
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.51: Parametrization of PDO1 Sub-Index 5 to 30ms
PDO1 is now in asynchronous mode and will be sent every 30 milliseconds when the
encoder is in Operational state.
Bekijk gratis de handleiding van Wachendorff WDGA 58V, stel vragen en lees de antwoorden op veelvoorkomende problemen, of gebruik onze assistent om sneller informatie in de handleiding te vinden of uitleg te krijgen over specifieke functies.
Productinformatie
| Merk | Wachendorff |
| Model | WDGA 58V |
| Categorie | Niet gecategoriseerd |
| Taal | Nederlands |
| Grootte | 11685 MB |
