Technical Manual
WDGA with EtherCAT
4 - EtherCAT
© Wachendorff Automation GmbH & Co. KG
34
Rev.1.09
4.3.4.1 6000h
– Operating parameters
To be able to adapt the resolution of the encoder, the "Scale"
option must be enabled. In the same process, the direction of
revolution and counting can be defined, i.e. it is possible to
specify whether the counting-up of positions occurs when the
shaft revolves (view of the shaft with flange) in a clockwise or
anti-clockwise direction (default = clockwise).
After a power reset, object 6000h can have other values than
shown in Table 4.28. That has to do with internal settings for
the high precision value, but it is enough to use the values
shown here.
The settings are made in object 6000h sub-index 00h. A list of the possible
configurations is set out below:
Code byte 0
Scaling
Direction of
revolution
00h
(default)
Off
Clockwise
01h
Off
Anti-clockwise
04h
On
Clockwise
05h
On
Anti-clockwise
Table 4.28: Direction of revolution and scaling parameters
4.3.4.2 6001h
– Measuring units per revolution
The single-turn resolution is changed with object 6001h.
4.3.4.3 6002h
– Total measuring range
The total resolution is set via object 6002h. This object accepts a total resolution up to
<= 32 bits. If a higher total resolution is to be set > 32 bits, this must be set in object
600Ah (see 4.3.4.8).
TMR always uses the last value set
e.g. 600Ah was set last, TMR = the value of 600Ah, if
6002h is changed afterwards, TMR = the value of 6002h.
Summary of Contents for WDGA 58A
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