Wachendorff WDGA CANopen, Technical Manual, Page: 48 / 82

Technical Manual
WDGA with CANopen-Interface
7 - Object description
© Wachendorff Automation GmbH & Co. KG 37 Rev.1.24
7.9 Error behaviour
On a CAN communication error an OPERATIONAL encoder switches into
PREOPERATIONAL. The behaviour on CAN bus errors can be changed by object
1029h sub-index 01h and the behaviour on encoder errors can be changed by sub-
index 02h.
The following values are valid on sub-index 01h and 02h:
Value Description
00h Default behaviour, go PRE-OPERATIONAL
01h Do not change current NMT state
02h Go STOPPED
Table 7.17: Selection of encoder reaction on errors
7.10 NMT start-up behaviour
Index 1F80h determines the encoders NMT-start-up behaviour (only sub-index 0 is
supported):
There are 3 options:
Value Description
00h Default behaviour, go PRE-OPERATIONAL
02h Send NMT-command "Start All Nodes"
08h Go "OPERATIONAL"
Table 7.18: Selection of start-up behaviour
By sending a "start all nodes"’ the encoder takes the task of a basic NMT master.
The configuration has to be saved into the EEPROM.
7.11 Bus-Off Auto-Reset
Index 2103h configures the encoder behaviour when it enters Bus-off state. The default
value "0" means that the encoder will remain bus-off until reset. By changing this value
the time can be configured in seconds after which the encoder will automatically switch
to CAN-Error Active. This feature has to be used with caution, because it can have a
critical impact on the whole bus system!