Wachendorff WDGA CANopen, Technical Manual, Page: 5 / 82

Technical Manual
WDGA with CANopen-Interface
Inhaltsverzeichnis
© Wachendorff Automation GmbH & Co. KG IV Rev.1.24
8.3.4 Node-ID selection ................................................................................. 55
8.3.5 Basic NMT commands .......................................................................... 56
8.4 Heartbeat settings ....................................................................................... 57
8.5 PDO Configuration ...................................................................................... 57
8.5.1 PDO parameters ................................................................................... 57
8.5.2 Synchronous PDO ................................................................................ 59
8.5.3 Asynchronous PDO .............................................................................. 59
8.5.4 Variable PDO-mapping ......................................................................... 60
8.6 Changing resolution and direction ............................................................... 63
8.7 Position preset ............................................................................................. 64
8.8 Position value filtering .................................................................................. 65
8.9 Change speed-integration and speed scaling ............................................. 65
8.10 Frequency limit ......................................................................................... 66
8.11 CAM-configuration.................................................................................... 66
8.12 Non-volatilely storage of parameters ........................................................ 68
8.12.1 Saving parameters into EEPROM ..................................................... 68
8.12.2 Restoring default parameters from EEPROM .................................... 69
9 Error diagnosis .............................................................................. 70
9.1 Encoder configurations ................................................................................ 70
10 Support ........................................................................................ 71