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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Step 2: Re-mapping the PDO
Mapping of the position value: (No.:1 (Size 32 bit = 20h) into object 1A00h sub-index
1 for PDO1):
600h+ID
8
23h
00h
1Ah
01h
20h
00h
04h
60h
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.57: Mapping position value
The SDO command contains the object to be mapped and its size (object 6004h, sub-
index 0, Size 20h = 4 Byte).
Mapping of speed value (No.:2 (Size 16 bit = 10h) into object 1A00h sub-index 2 for
PDO1):
600h+ID
8
23h
00h
1Ah
02h
10h
01h
30h
60h
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.58: Mapping speed value
The SDO command contains the object to be mapped and its size: (Object 6030h, sub-
index 1, Size 10h = 2 Byte).
Mapping of acceleration value (No.:3 (Size 16 bit = 10h) into object 1A00h sub-index
3 for PDO1):
600h+ID
8
23h
00h
1Ah
03h
10h
01h
40h
60h
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.59: Mapping acceleration value
The SDO command contains the object to be mapped and its size: (Object 6040h, sub-
index 1, Size 10h = 2 Byte).
Step 3: Activating the new mapping
To activate the new mapping, the new number of mapped objects must be written into
sub-index 0 of the mapping parameter object. In our example three objects are
mapped, therefor sub-index 0 has to be set to 03h.:
600h+ID
8
2Fh
00h
1Ah
00h
03h
00h
00h
00h
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.60: Mapping parameter – activate new mapping
The re-mapping of PDO1 is now completed and valid, but it should be saved into the
EEPROM (see 8.12).
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 |
