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
60
Triggered by a manufacturer specific event (change of position value):
To use this transmission type, sub-index 2 has to be FEh and the event timer in sub-
index 5 has to be disabled (00h), e.g.:
600h+ID
8
2Fh
00h
18h
02h
FEh
00h
00h
00h
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.52: Parametrization of PDO1 Sub-Index 2
600h+ID
8
2Bh
00h
18h
05h
00h
00h
00h
00h
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.53: Parametrization of PDO1 Sub-Index 5
After resetting, the encoder’s PDO1 will be in asynchronous mode and be sent out if
the measuring value changes.
• The use of this setting may cause heavy bus load. Therefor
we recommend the use of synchronous or timer triggered
transmission.
8.5.4 Variable PDO-mapping
Variable PDO-mapping means that the PDO payload can be configured by the user.
This mapping must match between encoder and receiver. The maximum payload for
a PDO is 8 bytes. The mapping is also limited by the size of the objects to be mapped.
E.g. you can map the "position value" (4 bytes), the "speed value" (2 bytes) and the
"acceleration" value (2 bytes) into the same object. Due to the fixed size of a CAN
frame this produces less bus load than transmitting the three objects by 3 individual
PDOs. This table shows a possible PDO mapping:
Object no
Sub-Index
Datatype
Size
Description
6004h
00h
Unsigned32
4 Byte
Position value
6030h
01h
Integer16
2 Byte
Speed value
6040h
01h
Integer16
2 Byte
Acceleration value
Table 8.54: Example of a mapping-table
The data 1, 2 und 3 (see mapping, Table 8.54) are spread over the PDOs 8 payload
bytes. The current payload is 4byte + 2 byte + 2byte = 8 byte. So the PDO is used with
100% efficiency!
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Productinformatie
| Merk | Wachendorff |
| Model | WDGA 58V |
| Categorie | Niet gecategoriseerd |
| Taal | Nederlands |
| Grootte | 11685 MB |
