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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You don’t have to use PDOs to check the current position value. You can also perform
a SDO read access on the position value object 6004h:
600h+ID
8
40h
04h
60h
00h
00h
00h
00h
00h
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.66: Check current position
The encoder will respond with the current position value.
8.8 Position value filtering
The encoder provides an internal filtering for the position value. Sub-index 1 of object
2105h is the filter parameter for the internal " IIF"-filter (infinite impulse response filter).
01h for the filter parameter deactivates the filter. The maximum value is 04h. A filtered
position value is more stable at the cost of less dynamic.
8.9 Change speed-integration and speed scaling
The encoder uses an "integration time" to calculate the speed value. This time interval
can be adjusted by object 2105h, sub-Index 2. The unit for this time is milliseconds.
The default value of 1000 milliseconds is suitable for most applications.
The change of the integration time will result in a more or less dynamic behaviour of
the speed value, similar (but independent) to the filtering of the position value.
The speed scaling can be edited by object 2106h. The Sub-Indices 1 (= numerator)
and 2 (= denominator) form a scaling factor (here: "z") for the speed scaling. Default
value is "1". The speed value is always given in Increments per second.
Object 2106h is a signed16 value with the limits of ±32767 representing ±120
revolutions per minute.
For example the speed shall be scaled to a maximum of ±2500 rpm:
𝑧 = Skaling factor ⇒ 𝑧 =
𝑘
𝑛
(1)
𝑛 = Max revolutions per minute ⇒ 𝑧 =
120
2500
(2)
𝑘 = Calculation factor = 120 ⇒ 𝑧 =
6
125
(3)
So object 2106h-01h must be set to 6d = 06h and 2106h-02h set to 125d=7Dh, so the
limits of ±32767 are scaled to ±2500 U/min.
Applying this scaling, the limits ±32767 corresponds with ±2500 rpm.
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 |
