Wachendorff WDGA Series, Technical Manual, Page: 27 / 69

Technical Manual
WDGA with EtherCAT
4 - EtherCAT
© Wachendorff Automation GmbH & Co. KG 19 Rev.1.09
Object Name Idx Description Data size
(bit)
ro
rw
co
Map Default
1C13h Sync
Manager
3 PDO
Assignment
00h Sync Manager PDO
configuration
Unsigned8 ro no 02h
01h PDO mapping object
index of TxPDO1
Unsigned16 ro 1A00h
02h PDO mapping object
index of TxPDO2
Unsigned16 ro 1A01h
1C33h Sync
Manager
3 Synchro-
nization
00h Sync Manager 3
configuration of
synchronization
Unsigned8 ro no 20h
01h Synchronization type Unsigned16 ro 0001h
02h Cycle Time Unsigned32 ro 0000 0000h
04h Synchronization
types supported
Unsigned16 ro 0007h
05h Minimum cycle Time Unsigned32 ro 0000 C350h
06h Calc and Copy Time Unsigned32 ro 0001 7AE8j
0A
h
Sync0 Cycle Time Unsigned32 ro 0000 0000h
0C
h
Cycle Time too small Unsigned16 ro 0000h
20h Sync Error Bool ro false
Table 4.6: Object directory 1C13h - 1C33h
4.3.2.1 1000h
– Device type
The device profile can be queried using the index 1000h. Only sub-index 0 is
supported. Default values are:

0701 0196h - for single-turn encoders

0702 0196h - for multi-turn encoders
4.3.2.2 1001h
– Error register
Content of object 1001h (bit allocation - meaning, default = 00000000b):
Bit: 7 6 5 4 3 2 1 0
Info: 0 0 0 0 0 0 0 generic error
Table 4.7: 1001h
– Error register