Wachendorff WDGA Series, Technical Manual, Page: 24 / 69

Technical Manual
WDGA with EtherCAT
4 - EtherCAT
© Wachendorff Automation GmbH & Co. KG 16 Rev.1.09
4.3.2 Communication-specific objects
The communication-specific objects follow the CiA 301 V4.02 specification and can
contain the object addresses 1000h to 1FFFh at most.
Object Name Idx Description Data size
(bit)
ro
rw
co
Map Default
1000h Device type 0h MSB = encoder type;
LSB = device profile
No. Unsigned32 co no Multi-turn:
0002 0196h
Single turn:
0001 0196h
1001h Error register 0h Signalling of internal
errors Unsigned8 ro Yes 00h
1008h Manufacturer
device name 00h Manufacturer device
designation
string256 co no WDGA-ST-
EC
WDGA-MT-
EC
1009h Manufacturer
hardware
version 00h Contains the devices'
hardware version
string16 co co
100Ah Manufacturer
software
version 00h Contains the devices'
software version
string72 co no
1010h Store
parameters 00h Saves object
directory settings
Unsigned8 co no 04h
01h All object directory
content
Unsigned32 rw 0000 0001h
02h Communication-
specific content
Unsigned32 rw 0000 0001h
03h Application-specific
content
Unsigned32 rw 0000 0001h
04h Manufacturer-specific
content
Unsigned32 rw 0000 0001h
1011h Restore
default
parameters 00h Restores factory
settings
Unsigned8 co no 04h
01h All object directory
content
Unsigned32 rw 0000 0001h
02h Communication-
specific content
Unsigned32 rw 0000 0001h
03h Application-specific
content
Unsigned32 rw 0000 0001h
04h Manufacturer-specific
content
Unsigned32 rw 0000 0001h
1018h Identity
object 00h Data for product
identification
Unsigned8 co no 04h
01h Vendor ID Unsigned32 ro 0000 021Fh
02h Product code
(WDGA)
Unsigned32 ro 5744 4741h
03h Revision number Unsigned32 ro
04h Serial number Unsigned32 ro
Table 4.3: Object directory 1000h - 1018h