Wachendorff WDGA CANopen, Technical Manual, Page: 3 / 82

Technical Manual
WDGA with CANopen-Interface
Inhaltsverzeichnis
© Wachendorff Automation GmbH & Co. KG II Rev.1.24
1 Introduction ..................................................................................... 1
1.1 Encoder types................................................................................................ 1
1.2 About this manual .......................................................................................... 1
1.2.1 Symbols .................................................................................................. 2
1.3 Specifications ................................................................................................ 2
2 Safety information ........................................................................... 3
2.1 General safety information ............................................................................ 3
2.2 Intended use .................................................................................................. 3
2.3 Safe working .................................................................................................. 4
2.4 Disposal ......................................................................................................... 4
3 Device description ........................................................................... 5
3.1 Basic encoder design .................................................................................... 5
3.2 Predefined Connection Settings .................................................................... 5
3.3 LED status indicator and signal codes ........................................................... 6
4 Quick start ........................................................................................ 8
4.1 CAN network integration ................................................................................ 8
4.2 SDO command to set the node ID ................................................................. 8
4.3 Setting-up the encoder .................................................................................. 9
5 General information about CAN ................................................... 11
5.1 CAN physical and transport layer ................................................................ 11
5.2 CANopen ..................................................................................................... 13
5.3 Specifications and profiles ........................................................................... 14
5.3.1 Overview ............................................................................................... 14
5.3.2 Mechanisms of communication ............................................................. 14
5.3.3 Object dictionary ................................................................................... 15
5.4 Network management (NMT) ...................................................................... 16
5.5 Heartbeat and Node-Guarding .................................................................... 17
5.6 Emergency messages ................................................................................. 18
6 WDGA object dictionary ................................................................ 19
6.1 Communication objects ............................................................................... 19
6.2 Device specific objects ................................................................................ 22
6.3 Manufacturer specific objects ...................................................................... 28
7 Object description ......................................................................... 30
7.1 Network management (NMT) commands .................................................... 30