Wachendorff WDGA CANopen, Technical Manual, Page: 47 / 82

Technical Manual
WDGA with CANopen-Interface
7 - Object description
© Wachendorff Automation GmbH & Co. KG 36 Rev.1.24
7.5.5 CAM-High-Limit
The CAM-High-Limit defines the upper switching position for a cam, similar to the CAM-
low-limit. Therefor each cam has its own high-limit-object (see object dictionary
6320h .. 6327h).
7.5.6 CAM-Hysteresis
The CAM-Hysteresis defines the width of the cam hysteresis for each single cam (see
object dictionary 6320h...6327h).
7.6 Device profile
Object 1000h provides the number of the implemented device profile and the device
type:

0001 0196h – singleturn encoder DS-406 device profile

0002 0196h – multiturn encoder DS-406 device profile
7.7 SYNC
1005h is the selected COB-ID on which the encoder awaits the SYNC message.
BasicCAN frames and ExtendedCAN frames (Bit 29 = 1b) are supported. The encoder
is a SYNC consumer, not a producer!
7.8 Encoder designation
Object 1008h delivers the encoder designation. Only sub index 0 is supported. The
value of this object depends on the variant of the firmware.

WDGA-ST-CO - singleturn CANopen

WDGA-MT-CO - multiturn CANopen