Wachendorff WDGA CANopen, Technical Manual, Page: 55 / 82

Technical Manual
WDGA with CANopen-Interface
8 - Setting-up the encoder
© Wachendorff Automation GmbH & Co. KG 44 Rev.1.24
Check the LSS slaves answer to the command above:
7E4h 13h 00h 00h 00h 00h 00h 00h 00h
CAN-ID Command Error Code Specific Error Byte2 Byte3 Byte4 Byte5 Byte6
Table 8.10: Answer of LSS-slave
Error Code:

00h = OK

01h = Baudrate not supported
Specific Error:

00h = OK

FFh = Application specific error
Possibly the communication with the encoder fails after the configuration because the
configuration tool and the encoder might operate on different baud rates, so you have
to change the baudrate configuration of your tool.

Before changing the baudrate you have to check the baudrate
of the application. Assure yourself that your configuration tool
supports that baudrate! Make a note of the selected baudrate
(i.g. in this manual or on the encoders label)
8.2.6 Node-ID setting
Use the following command to change the encoder’s node ID:
7E5h 11h Node-ID 00h 00h 00h 00h 00h 00h
CAN-ID Command Node-ID Byte1 Byte2 Byte3 Byte4 Byte5 Byte6
Table 8.11: set Node-ID
Valid Node IDs are 01h to 7Fh.

Mind leaving the LSS configuration mode after configuration
(see above 8.2.4)!