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Technical Manual

WDGA with EtherCAT

4 - EtherCAT

Rev.1.09

4.3.4 Encoder-specific objects

The encoder-specific objects follow the CiA encoder profile 406 and can contain the
object addresses 6000h to 9FFFh at most.

Object Name

Idx

Description

Data size

(bit)

rw
co

Map

Default

6000h

Operating
parameters

00h Change/display of the

operating parameters

Unsigned16

0000h

6001h

Measuring
units per
revolution

00h Change of the single-

turn resolution

Unsigned32

0001 0000h

6002h

Total
measuring
range

00h Change of the overall

resolution

Unsigned32

FFFF FFFFh

6003h

Preset value

00h Change / display of a

preset value
for zero point
adaptation

Unsigned32

0000 0000h

6004h

Position
value

00h Output value of the

position (ST + MT)

Unsigned32

Yes

6008h

High-
precision
position
value

00h Output of the position

if measuring range >
32 bit

Unsigned64

Yes

6009h

High-
precision
preset value

00h Change / display of

the high-precision
preset value for zero
point adaptation

Unsigned64

0000 0000
0000 0000h

600Ah

High-
resolution
total
measuring
range

00h Like object 6002h

only for 64-bit

Unsigned64

0800 0000
0000 0000h

600Bh

High-
resolution
position raw
value

00h Unscaled 64-bit

position value without
preset

Unsigned64

600Ch Position raw

value

00h Unscaled 32-bit

position value without
preset

Unsigned32

Yes

6030h

Speed value

00h Speed

Unsigned8

Yes

01h

01h Current

speed value

Signed16

6031h

Speed
parameter

00h Speed parameter

Unsigned8

04h

01h Speed source

selector

Unsigned8

03h

02h Speed integration

time

Unsigned16

64h

03h Multiplier value

Unsigned16

01h

04h Divider value

Unsigned16

01h

Table 4.21: Device-specific objects 6000h - 6031h

Содержание WDGA 58A

Страница 1: ... R e v ...

Страница 2: ...ts no liability or warranty for the correctness of this manual or for any direct or indirect damage that may arise from it In the pursuit of constant innovation and cooperation with customers we reserve the right to amend technical data or content at any time Wachendorff Automation asserts copyright over this manual It may not be modified added to reproduced or shared with third parties without pr...

Страница 3: ...uipment 7 3 1 General 7 3 2 EtherCAT 7 3 3 Principles of WDGA 8 3 3 1 Single turn ST QuattroMag 9 3 3 2 Multi turn MT EnDra 9 3 3 3 Direction of revolution 9 3 3 4 Preset 9 3 3 5 Scaling 9 3 4 Things to consider when connecting EtherCAT encoders 11 3 4 1 BI2 bus cover with 3 x M12x1 11 3 5 LEDs and signalling 12 3 6 MAC address and IP address 14 4 EtherCAT 15 4 1 Summary of functions 15 4 2 Commun...

Страница 4: ...et mask 26 4 3 3 6 2902h Gateway 26 4 3 4 Encoder specific objects 27 4 3 4 1 6000h Operating parameters 34 4 3 4 2 6001h Measuring units per revolution 34 4 3 4 3 6002h Total measuring range 34 4 3 4 4 6003h Preset value 35 4 3 4 5 6004h Position value 35 4 3 4 6 6008h High precision position value 35 4 3 4 7 6009h High precision preset value 35 4 3 4 8 600Ah High resolution total measuring range...

Страница 5: ...tion 40 4 3 4 30 6502h Number of distinguishable revolutions 40 4 3 4 31 6503h Alarms 40 4 3 4 32 6504h Supported alarms 40 4 3 4 33 6505h Warnings 41 4 3 4 34 6506h Supported warnings 41 4 3 4 35 6507h Profile and software version 41 4 3 4 36 6508h Operating time 42 4 3 4 37 6509h Offset value 42 4 3 4 38 650Ah Module identification 42 4 3 4 39 650Bh Serial number 42 4 3 4 40 650Dh Absolute accur...

Страница 6: ...Technical Manual WDGA with EtherCAT Table of contents Wachendorff Automation GmbH Co KG V Rev 1 09 5 5 Contact 53 6 Commissioning with TwinCAT 54 7 Technical advice 61 ...

Страница 7: ...ings 48 Figure 5 5 Encoder information 49 Figure 5 6 Firmware update 50 Figure 5 7 Firmware update selecting the file 50 Figure 5 8 Firmware update transfer file 51 Figure 5 9 Firmware update successful 52 Figure 5 10 Firmware update failed 52 Figure 5 11 Licence information 53 Figure 5 12 Contact information 53 Figure 6 1 TwinCAT Scan 54 Figure 6 2 TwinCAT Scan Message 55 Figure 6 3 TwinCAT IO de...

Страница 8: ...e EtherCAT object 1C00h 23 Tabelle 4 15 Sync Manager 3 PDO assignment EtherCAT Objekt 1C13 23 Table 4 17 Sync Manager 3 synchronisation EtherCAT Objekt 1C33h 24 Table 4 16 Manufacturer specific objects 2105h 2902h 25 Table 4 17 Integration values EtherCAT object 2105h 26 Table 4 18 Frequency limit EtherCAT object 2107h 26 Table 4 19 Device specific objects 6000h 6031h 27 Table 4 20 Device specific...

Страница 9: ...you have is the most recent When reading pay particular attention to information important and warning points that are marked with corresponding symbols see 1 1 1 This manual is designed for people with technical knowledge and experience of using sensors EtherCAT interfaces and automation elements If you do not have any experience of this equipment please seek assistance from people who do Store t...

Страница 10: ...n of text in which a process is described to resolve a particular problem The WARNING symbol is placed next to a section of text that should be paid particular attention to in order to ensure the correct use of the equipment and to protect against danger 1 1 2 What you will not find in this manual Principles of automation technology System planning Risks availability safety Shielding concepts Refl...

Страница 11: ...duct range from Wachendorff can be found on our website www wachendorff automation de 1 3 Description of services An encoder is a sensor used to capture angle positions single turn and revolutions multi turn The measuring data and variables derived from this are processed by the encoder and provided as electrical output signals for the downstream peripherals In the WDGA series the patented technol...

Страница 12: ... your order Before commissioning you should check the supplied package for completeness Generally speaking the WDGA product series with an EtherCAT interface comprises the following supplied package WDGA with EtherCAT with bus cover Assembly instructions The corresponding ESI file and matching datasheet are available on the Internet to download www wachendorff automation de ...

Страница 13: ...rer s operating instructions must be observed 2 2 Correct use Encoders are components designed for installation in machinery Before commissioning correct operation it must be ensured that the machine as a whole complies with the EMC and Machinery directives The encoder is a sensor for capturing angle positions and revolutions and should only be used for such purposes Encoders from Wachendorff Auto...

Страница 14: ...efore commissioning Suitable safety measures should be deployed to ensure that in the event of a failure or malfunction no physical harm can occur and there is no damage to the system or operating facilities 2 4 Disposal Equipment that is no longer needed or which is faulty must be disposed of correctly by the user in accordance with country specific legislation It must be remembered that this equ...

Страница 15: ...e status LEDs in the cover indicate the various states of the encoder during use They support the configuration of the encoder or troubleshooting in the field The flange drill holes or supplied spring plates are used to secure the encoder to the machine or while in use 3 2 EtherCAT EtherCAT is a real time Ethernet technology that was originally discovered by Beckhoff Automation The EtherCAT protoc...

Страница 16: ...medium access controller MAC without an additional communication processor This means that a master can be installed on any hardware platform that provides an Ethernet port The EtherCAT slaves use an EtherCAT slave controller ESC for processing in the cycle that is handled entirely in hardware This means that network performance can be predicted and is independent of the individual slave device im...

Страница 17: ...n A simple two part complement invert each bit and add 1 of the position value can reverse the positive direction of revolution 3 3 4 Preset In a specific physical position the encoder can be assigned a desired position value This must be within the measuring range so that the position value correlates to a physical reference position To do this the difference between the current position value an...

Страница 18: ...coder shaft 𝑇𝑀𝑅 36000 𝐶𝑡𝑠 3 𝑀𝑇 𝑇𝑀𝑅 𝑀𝑈𝑃𝑅 36000 𝐶𝑡𝑠 3600 𝐶𝑡𝑠 10 4 In exceptional cases the TMR does not need to be a whole integer multiple of the MUPR For example if a translation in a system causes the desired measuring parameter to move 10 faster in relation to the encoder shaft than the encoder shaft itself In this case the setting of MUPR 3960 Cts and TMR 36000 Cts would ensure that the faster ...

Страница 19: ... with a bus cover The electrical connection is made at the bus cover via the 2 x M12 plugs and 1 x M12 socket The connection assignment of the plugs and sockets can be found in Table 3 1 Connection assignment BI2 Socket Port 1 IN M12x1 4 pin D coded Tx 1 Rx 2 Tx 3 Rx 4 Connection assignment BI2 Plug Power M12x1 4 pin A coded UB 1 n c 2 UB 3 n c 4 Connection assignment BI2 Socket Port 2 OUT M12x1 4...

Страница 20: ...switch other field device etc and data is being exchanged The MOD LED indicates operation always lighting up green when the supply voltage is connected The STAT LED indicates the EtherCAT status Red signals in the STAT LED indicate errors while green ones indicate the bus status The green signals are always displayed in the pause between the red signals This means that in the event of uncertainty ...

Страница 21: ...250 500 750 1000 1250 C y c l e Double flash 0 500 1000 1500 2000 2500 C y c l e Colour Function Status Meaning Red Error Off No error Flashing Invalid configuration Single flash Local error Double flash Process data or EtherCAT watchdog timeout Flickering Boot error On Application error Green Run Off Initialisation Flashing Pre operational Single flash Safe operational Flickering Initialisation o...

Страница 22: ...dorff EtherCAT encoder has a MAC address This always starts with D4 90 E0 xx xx xx In its shipped status the EtherCAT encoder has the IP address of 192 168 1 127 The IP address can be configured on the webpage of encoder see subsection 5 3 1 The currently configured IP address can be determined using TwinCAT EoE settings or by reading objects 2900h 2902h ...

Страница 23: ...e encoder class C3 Web server Standard web server Further features Distributed clocks Sync Manager Outputs SM3 SDO upload download SDO information services Station alias Diagnosis processing Table 4 1 Summary of the encoder s functions 4 2 Communication protocols Protocol Purpose CoE Implementation of the CiA device profile 406 for encoders EoE Web server interface FoE Firmware update via EtherCAT...

Страница 24: ... 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 parame...

Страница 25: ...h 06h 25h Message 1 32 Unsigned64 ro 0000 0000h 1A00h 1st TPDO mapping parameter 00h Defines the PDO mapping for the first TPDO Unsigned8 rw no 05h 01h 1st Output object Default object 6004h Position value Unsigned32 rw 6004 0020h 02h 2nd Output object Default 6030h Speed Unsigned32 rw 6030 0110h 03h 3rd Output object Default 6503h Alarms Unsigned32 rw 6503 0010h 04h 4th Output object Default 6505...

Страница 26: ...03 0010h 04h 4th Output object Default 6505h Warnings Unsigned32 rw 6505 0010h 05h 5th Output object Default 6300h CAM state Unsigned32 rw 6300 0108h 06h 6th Output object Default 6410h High resolution work area state Unsigned32 rw 6410 0108h Inactive through sub index 00h 07h to 08h Mapping of object 7 8 in the application Unsigned32 rw 0000 0000h 1C00h Sync Manager Communi cation Type 00h Sync M...

Страница 27: ...ycle 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 ...

Страница 28: ...rs 2 Where Save communication objects 3 Where Save application objects 4 Where Save manufacturer objects Table 4 8 1001h Parameter storage options Saving is initiated by populating the corresponding sub index with the ASCII value save in hex 65766173h 4 3 2 5 1011h Restore parameters The factory setting can be restored via index 1011h Sub index Access Meaning 0 co Number of objects 1 Where Restore...

Страница 29: ... rw Subindex of last confirmed message 4 BOOL ro New message flag 5 Unsigned16 rw Flags 6 37 Unsigned64 ro Messages 1 32 Table 4 11 1010h Identity object 4 3 2 8 1A00h 1st TPDO mapping parameter The first transmit PDO can be dynamically configured The standard mapping of the first PDO is listed in the table below Sub idx Access Meaning 00 rw Number of mapped objects Default value 5 01 rw 1st Outpu...

Страница 30: ...dynamically configured The standard mapping of the second PDO is listed in the table below Here too the sub indices are set up as in Table 4 13 Sub idx Access Meaning 00 rw Number of mapped objects Default value 6 01 rw 1st Output object Default object 6008h High resolution position value 02 rw 2nd Output object Default 6030h Speed 03 rw 3rd Output object Default 6503h Alarms 04 rw 4th Output obje...

Страница 31: ...ue 2 Mailbox send Slave to Master 3 Unsigned8 ro Communication type SM2 Value 3 Rx PDO 4 Unsigned8 ro Communication type SM3 Value 4 Tx PDO Tabelle 4 15 Sync Manager communication type EtherCAT object 1C00h 4 3 2 11 1C13h Sync Manager 3 PDO assignment Sub Idx Type Access Meaning 0 Unsigned8 ro Nr of objects Value 2 1 Unsigned16 ro PDO mapping Object Index of assigned TxPDO 1 Value 1A00h 2 Unsigned...

Страница 32: ...h SM3 Event 2 DC Modus synchronous with Sync0 Event 1 2 Unsigned32 ro Cycle time in ns 0 4 Unsigned16 ro Synchronization Types Supported Bit 0 Free Run Bit 1 Sync SM Event Bit 2 4 Sync Mode Bit 5 6 Shift Mode Bit 7 15 Reserved 7 5 Unsigned32 ro Minimum Cycle Time in ns 50000 6 Unsigned32 ro Calc and Copy Time 97000 10 Unsigned32 ro Sync0 Cycle Time 0 12 Unsigned16 ro Cycle Time Too Small 0 32 Bool...

Страница 33: ...32 rw 0000 0000h 02h Customer data 2 Unsigned32 rw 0000 0000h 03h Customer data 3 Unsigned32 rw 0000 0000h 04h Customer data 4 Unsigned32 rw 0000 0000h 05h Customer data 5 Unsigned32 rw 0000 0000h 06h Customer data 6 Unsigned32 rw 0000 0000h 07h Customer data 7 Unsigned32 rw 0000 0000h 08h Customer data 8 Unsigned32 rw 0000 0000h 2900h IP address 00h Contains the IP address Unsigned8 co no 04h 01h...

Страница 34: ...ength of speed filter value Table 4 19 Integration values EtherCAT object 2105h 4 3 3 2 2107h Frequency limit Sub idx Acces s Description 00 rw If this limit speed is exceeded bit 0 is set in object 6505 frequency limit exceeded The unit is revolutions per second Table 4 20 Frequency limit EtherCAT object 2107h 4 3 3 3 2120h Customer flash area Users can save their own data in this area up to a si...

Страница 35: ...ST MT Unsigned32 ro Yes 6008h High precision position value 00h Output of the position if measuring range 32 bit Unsigned64 ro Yes 6009h High precision preset value 00h Change display of the high precision preset value for zero point adaptation Unsigned64 rw no 0000 0000 0000 0000h 600Ah High resolution total measuring range 00h Like object 6002h only for 64 bit Unsigned64 rw no 0800 0000 0000 000...

Страница 36: ... inverted Unsigned8 rw 00000000b 6310h CAM1 low limit 00h Lower switching point for the 1st CAM Unsigned8 co no 01h 01h Change of the lower switching point for the 1st CAM Signed32 rw 0000 0000h 6311h CAM2 low limit 00h Lower switching point for the 2nd CAM Unsigned8 co no 01h 01h Change of the lower switching point for the 2nd CAM Signed32 rw 0000 0000h 6312h CAM3 low limit 00h Lower switching po...

Страница 37: ...ange of the upper switching point for the 2nd CAM Signed32 rw 0000 0000h 6322h CAM3 high limit 00h Upper switching point for the 3rd CAM Unsigned8 co no 01h 01h Change of the upper switching point for the 3rd CAM Signed32 rw 0000 0000h 6323h CAM4 high limit 00h Upper switching point for the 4th CAM Unsigned8 co no 01h 01h Change of the upper switching point for the 4th CAM Signed32 rw 0000 0000h 6...

Страница 38: ...epends on the height of this value Unsigned3 2 rw 0000 0000h 6333h CAM4 hysteresis 00h Hysteresis for the switching points of the 4th CAM Unsigned8 co no 01h 01h The size of the hysteresis depends on the height of this value Unsigned3 2 rw 0000 0000h 6334h CAM5 hysteresis 00h Hysteresis for the switching points of the 5th CAM Unsigned8 co no 01h 01h The size of the hysteresis depends on the height...

Страница 39: ...1h 01h Change of the upper switching point for the 1st 8th CAM Signed64 rw 0000 0000 0000 0000h 6360h 6367h High resolution CAM 1 8 hysteresis 00h Hysteresis for the switching points of the 1st 8th CAM Unsigned8 co no 01h 01h The size of the hysteresis depends on the height of this value Unsigned64 rw 0000 0000 0000 0000h 6400h Work area state register 00h Number of status bits of the work area Un...

Страница 40: ... rw 7FFF FFFF FFFF FFFFh 6500h Operating status 00h Contains the values from object 6000h Unsigned1 6 ro no 6501h Single turn resolution 00h Display of the single turn resolution Unsigned3 2 co no 0001 0000h 6502h Number of distinguishab le revolutions 00h Display of the multi turn resolution Unsigned3 2 co no ST 0000 0001h MT FFFF FFFFh 6503h Alarms 00h Alarm in the event of a malfunction Unsigne...

Страница 41: ...igned32 co ST 0000 FFFFh MT FFFF FFFFh 650Bh Serial number 00h Display the serial number of the encoder Unsigned8 co no 01h 01h Serial number Unsigned32 co 650Dh Absolute accuracy 00h Absolute accuracy Unsigned8 co no 0Ch 650Eh Device capability 00h Contains additional information on object 1000h Unsigned32 ro no 0000 000Bh 650Fh Offset value for high resolution encoder 00h Contains the offset val...

Страница 42: ...on value but it is enough to use the values shown here The settings are made in object 6000h sub index 00h A list of the possible configurations is set out below Code byte 0 Scaling Direction of revolution 00h default Off Clockwise 01h Off Anti clockwise 04h On Clockwise 05h On Anti clockwise Table 4 28 Direction of revolution and scaling parameters 4 3 4 2 6001h Measuring units per revolution The...

Страница 43: ...n value is output via object 6004h 4 3 4 6 6008h High precision position value See 4 3 4 5 only with max 64 bit instead of max 32 bit 4 3 4 7 6009h High precision preset value See 4 3 4 4 only with max 64 bit instead of max 32 bit 4 3 4 8 600Ah High resolution total measuring range See 4 3 4 3 please check hint only with max 64 bit instead of max 32 bit 4 3 4 9 600Bh High resolution position raw v...

Страница 44: ...es the time interval for calculating the speed It is specified in milliseconds e g 64h 100 ms Together multipliers and dividers represent a freely configurable factor They can be used to convert increments per second into millimetres per minute for example 4 3 4 13 6300h CAM state register The CAM state register object 6300h is used to represent the cam switching states depending on the position o...

Страница 45: ...e to 1 in binary notation If only CAM 2 CAM 4 and CAM 7 are supposed to be active for example then according to the binary notation Position 7 MSB 6 5 4 3 2 1 0 LSB Type CAM 8 CAM 7 CAM 6 CAM 5 CAM 4 CAM 3 CAM 2 CAM 1 Value 0 1 0 0 1 0 1 0 Table 4 32 CAM enable register value 4Ah This corresponds to the value 4Ah If this is written into object 6301h sub index 01h only the cam switch positions CAM ...

Страница 46: ... limit The upper switching point of a cam switch position is defined via the CAM high limit Each individual cam switch position CAM 1 CAM 8 has its own CAM high limit object see object index 6320h 6327h 4 3 4 18 6330h 6337h CAM1 CAM8 hysteresis The CAM hysteresis is used to define the width of the hysteresis of the switching points For each individual cam switch position CAM 1 CAM 8 a separate CAM...

Страница 47: ...and 05h below the value of object 6401h 4 3 4 23 6401h Work area low limit Object 6401h sub index 01 is used to define the lower limit of the work area 4 3 4 24 6402h Work area high limit Object 6402h sub index 01 is used to define the upper limit of the work area 4 3 4 25 6410h High resolution area state register See 4 3 4 22 only with max 64 bit instead of max 32 bit 4 3 4 26 6411h High resoluti...

Страница 48: ...olutions Object 6502h can be used to read out the maximum number of distinguishable revolutions Multi turn resolution 4 3 4 31 6503h Alarms Object 6503h shows a possible position error see Table 4 34 15 MSB 1 0 LSB Always 0 Bit 0 1 Position error An error has occurred in the sensor The position value is incorrect Table 4 34 6503h Alarms 4 3 4 32 6504h Supported alarms Object 6504h shows the suppor...

Страница 49: ...ating time limit Always 0 2 CPU watchdog status always 0 not supported 1 Light control Always 0 not optical but rather magnetic sensors 0 Frequency exceeded Is set if the speed defined in object 2107h is exceeded Is deleted as soon as the speed falls below this limit again Table 4 35 Signal description 4 3 4 34 6506h Supported warnings Object 6506h shows the supported warnings Frequency exceeded a...

Страница 50: ... manufacturer max position 4 3 4 39 650Bh Serial number Object 650Bh contains the serial numbers of the encoder 4 3 4 40 650Dh Absolute accuracy Object 650Dh can be used to read out the absolute accuracy of the sensor in bits Currently this value is 12 bits 4 3 4 41 650Eh Device capability The object 650Eh contains additional information on object 1000h The default is 0000 000Bh This states that t...

Страница 51: ...Number of high precision revolutions Object 6510h specifies the number of revolutions distinguishable by the sensor Currently the value is FF FFFF FFFFh The specification defines this parameter as an Unsigned40 value The Wachendorff encoder is able to discern 43 bit revolutions however and transfer this value ...

Страница 52: ...tc To do this connect the encoder via an Ethernet cable M12 plug to the encoder and RJ45 plug to the PC to your computer Ensure that your PC is installed in the same IP address range as the encoder and that TwinCAT is active Example configuration Encoder IP address 192 168 1 127 PC IP address 192 168 1 100 PC sub net address 255 255 255 0 Once you have done this the encoder s start page opens Info...

Страница 53: ...name Name of EtherCAT device MAC devices Encoder MAC address MAC port 1 MAC address of Ethernet port 1 MAC port 2 MAC address of Ethernet port 2 IP address IP address of your EtherCAT encoder Network mask Sub net mask of your EtherCAT encoder Gateway Gateway of your EtherCAT encoder The website s refresh rate is fixed at 10 seconds and cannot be changed Using the message Refresh data at the top ri...

Страница 54: ... 46 Rev 1 09 5 2 2 Diagnosis Figure 5 2 Diagnostics page Exception This is where possible causes of errors can be displayed If you see an error here contact us and tell us what the information says Field bus CPU load This is where you will see the CPU load of the encoder in operation ...

Страница 55: ...GA with EtherCAT 5 Web server Wachendorff Automation GmbH Co KG 47 Rev 1 09 5 2 3 Versions Figure 5 3 Versions Figure 5 3 shows information about the individual version states such as Application SDAI Stack MAC Sensor U2A ...

Страница 56: ...orff Automation GmbH Co KG 48 Rev 1 09 5 3 Configuration 5 3 1 Network Figure 5 4 Network settings This is where you can change the device name IP address network status and gateway Please note that you can only change the data when the system is not moving ...

Страница 57: ...achendorff Automation GmbH Co KG 49 Rev 1 09 5 3 2 Encoder Figure 5 5 Encoder information You can check the parametrised values of the encoder in Figure 5 5 Position with scaling RAW position without scaling Offset Velocity CAM status Work area status ...

Страница 58: ... Figure 5 6 Firmware update The encoder s current firmware version is displayed If a new firmware version is available you can update the version on the encoder here Please note that you can only carry out the firmware update when the system is not moving Do not disconnect the voltage supply or network cable while a firmware update is in progress To update the encoder s firmware choose the valid f...

Страница 59: ...rt the firmware update An animated display appears showing the following text Transferring file see Figure 5 8 and after the transfer is done you will see a warning Updating FLASH This takes about 2 minutes Do not switch off the device see Figure 5 9 Figure 5 8 Firmware update transfer file Figure 5 9 Firmware update update FLASH ...

Страница 60: ... and then check under Information Versions whether the new firmware version is displayed Figure 5 10 Firmware update successful If the firmware update fails see Figure 5 11 please check that you have selected the correct file Carry out a voltage reset and repeat the process If the voltage supply fails during the update and the encoder stops responding please contact our support team Figure 5 11 Fi...

Страница 61: ...ce information This is where you will find the current safety instructions as well as firmware program packages You can download the source code of these packages via the link on this website 5 5 Contact Figure 5 13 Contact information For further product information and technical support you will find the contact details required here ...

Страница 62: ...he following directory TwinCAT lO EtherCAT You can download the file from www wachendorff automation de Start TwinCAT and a new project Now carry out the following steps Ensure that you have an Intel network card in your PC TwinCAT only works reliably with certain types Expand the tree at I O and right click on Device Then click SCAN Figure 6 1 TwinCAT Scan ...

Страница 63: ...herCAT 6 TwinCAT 3 Wachendorff Automation GmbH Co KG 55 Rev 1 09 Confirm the message shown in Figure 6 2 with OK Figure 6 2 TwinCAT Scan Message Choose your TwinCAT enabled network card see Figure 6 3 Figure 6 3 TwinCAT IO devices ...

Страница 64: ...igure 6 4 The system is scanned for EtherCAT members Figure 6 4 TwinCAT Scan for boxes Figure 6 5 TwinCAT Activate Free Run Once the scan is complete confirm the following window with Yes see Figure 6 5 The encoder appears in the tree structure and you can access the process data via the CoE tab see Figure 6 6 Figure 6 6 TwinCAT Scan complete ...

Страница 65: ...e scaling function make sure that the object with index 6000 is set to e g 0x0004 in the CoE Online tab see Figure 6 7 If not double click it and change the value see Figure 6 8 to your desired setting see 4 3 4 1 6000h Operating parameters Figure 6 7 Scaling Check object 6000 Figure 6 8 Scaling set object 6000 to 4 ...

Страница 66: ...ee Figure 6 9 and the number of countable revolutions to 10 so the number of total steps must be set to 3600 s Figure 6 10 Figure 6 9 Scaling 6001 measuring units per revolution Figure 6 10 Scaling Total measuring range in measuring units The result should look like in Figure 6 11 Figure 6 11 Scaling Overview of the example settings To ensure that the values are saved after a voltage reset please ...

Страница 67: ...ex 6003 Double click object 6003 in the tab CoE Online Enter the desired value in the example 0 and confirm with OK Figure 6 12 shows the value before the preset Figure 6 13 shows that the preset has been accepted Figure 6 12 Preset Set to zero Figure 6 13 Preset Preset accepted To ensure that the values are saved after a voltage reset please read Chapter 6 4 Save settings ...

Страница 68: ...Rev 1 09 6 4 Save settings To ensure that settings are retained even after a voltage reset the values must be saved This is done by setting the value of object 1010 01 to 1702257011 as Dec and confirming with OK see Figure 6 14 This corresponds to the word save Figure 6 14 Save settings ...

Страница 69: ...ion GmbH Co KG 61 Rev 1 09 7 Technical advice Technical applications advisers Do you have any questions about this product Your technical applications advisers will be happy to help you Tel 49 0 67 22 99 65 414 Fax 49 0 67 22 99 65 70 E mail support wdga wachendorff de Notes ...

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