Wachendorff WDGA CANopen, Technical Manual, Page: 7 / 82

Technical Manual
WDGA with CANopen-Interface
List of tables
© Wachendorff Automation GmbH & Co. KG VI Rev.1.24
List of tables
Table 3.1: CAN-Identifier ............................................................................................ 5
Table 4.1: SYNC-message ......................................................................................... 8
Table 4.2: SDO-write command to set Node-ID ......................................................... 9
Table 4.3: Node-ID in decimal and hexadecimal ........................................................ 9
Table 5.1: CAN baud rates und recommended cable length limits ........................... 13
Table 5.2: Draft Standards ........................................................................................ 14
Table 5.3: Structure of the object dictionary ............................................................. 15
Table 5.4: Available communication – Pre-Operational ............................................ 16
Table 5.5: Available communication – Operational ................................................... 17
Table 5.6: Available communication – Stopped ........................................................ 17
Table 6.1: Object dictionary 1000h – 100Dh ............................................................. 19
Table 6.2: Object dictionary 1010h – 1020h ............................................................. 20
Table 6.3: Object dictionary 1029h – 1A01h ............................................................. 21
Table 6.4: Object dictionary 1A02h – 1F80h ............................................................. 22
Table 6.5: Device specific objects 6000h –6008h ..................................................... 22
Table 6.6: Device specific objects 6009h –6310h ..................................................... 23
Table 6.7: Device specific objects 6311h –6322h ..................................................... 24
Table 6.8: Device specific objects 6323h –6334h ..................................................... 25
Table 6.9: Device specific objects 6335h –6504h ..................................................... 26
Table 6.10: Device specific objects 6505h –6510h ................................................... 27
Table 6.11: manufacturer specific objects 2100h –2500h ........................................ 28
Table 6.12: manufacturer specific objects 2502h –2504h ........................................ 29
Table 7.1: Structure of NMT-command..................................................................... 30
Table 7.2: Commands for NMT-command................................................................ 30
Table 7.3: Node-ID values for NMT-commands ....................................................... 30
Table 7.4: monitor external heartbeat ....................................................................... 31
Table 7.5: Example configuration of a consumer heartbeat...................................... 31
Table 7.6: Basic structure of an EMCY ..................................................................... 32
Table 7.7: Emergency error code list ........................................................................ 32
Table 7.8: Error register ............................................................................................ 32
Table 7.9: Info field list .............................................................................................. 33
Table 7.10: Manufacturer status register .................................................................. 33
Table 7.11: Alarms - Object 6503h ........................................................................... 34
Table 7.12: Warnings – Object 6505h ...................................................................... 34
Table 7.13: CAM-state-register – Value 89h ............................................................. 34
Table 7.14: CAM-state-register – Value 81h ............................................................. 34
Table 7.15: CAM-enable-register – Value 4Ah ......................................................... 35
Table 7.16: Example CAM-polarity-register .............................................................. 35
Table 7.17: Selection of encoder reaction on errors ................................................. 37
Table 7.18: Selection of start-up behaviour .............................................................. 37
Table 8.1: Pin and cable assignment ........................................................................ 40
Table 8.2: LSS-message .......................................................................................... 41
Table 8.3: Command to set encoder “Stopped“-Mode .............................................. 41
Table 8.4: LSS-Selective-Identification-Commands ................................................. 42
Table 8.5: Answer of encoder to LSS-Selective-Identification-Commands ............... 42