Wachendorff WDGA 58A, Technical Manual

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Technical Manual
WDGA with EtherCAT
4 - EtherCAT
© Wachendorff Automation GmbH & Co. KG 36 Rev.1.09
4.3.4.12 6031h
– Speed parameters
The speed source selector can be set as follows
Sub-
Idx
Type Acce
ss
Meaning Value
0 Unsigned8 ro Number of objects 4
1 Unsigned8 rw Speed source selector
1: Objekt 6004 (position value)
2: Objekt 600C (raw Position value)
3: Objekt 6008 (high resolution position value)
4: Objekt 600B (high resolution raw position
value)
3
2 Unsigned16 rw Speed integration time
Time divisor for speed calculation in ms
100
3 Unsigned16 rw Multiplier value 1
4 Unsigned16 rw Divider value 1
Table 4.29: Speed selector
The speed integration time determines the time interval for calculating the speed. It is
specified in milliseconds, e.g. 64h = 100 ms
Together, multipliers and dividers represent a freely configurable factor. They can be
used to convert increments per second into millimetres per minute, for example.
4.3.4.13 6300h
– CAM state register
The CAM state register (object 6300h) is used to represent the cam switching states
depending on the position of the encoder shaft. To do this, the value of the register
must be broken down into binary notation (see below). Each bit of the octet from object
6300h shows the status of a specific switch position.
The following example shows a CAM state register with the value 89h:
Position 7(MSB) 6 5 4 3 2 1 0(LSB)
Type CAM 8 CAM 7 CAM 6 CAM 5 CAM 4 CAM 3 CAM 2 CAM 1
Value 1 0 0 0 1 0 0 1
Logic High Low Low Low High Low Low High
Table 4.30: CAM state register - value 89h