Wachendorff WDGA CANopen, Техническое руководство

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Technical Manual
WDGA with CANopen-Interface
8 - Setting-up the encoder
© Wachendorff Automation GmbH & Co. KG 63 Rev.1.24
8.6 Changing resolution and direction

To change resolution and direction of the encoder the scaling
option has to be activated.

While activating the scaling you can change the counting
direction (clockwise (CW) or counter-clockwise (CCW) in one
step (default setting is CW)).

The counting direction is referred to the movement of the axis
when looking onto the flange side of the encoder.
The object for this configuration is 6000h sub-index 00h. Here is the list of possible
settings:
Code Byte 0 Scaling Direction
00h OFF Clockwise (CW)
01h OFF Counter-clockwise (CCW)
04h (default) ON Clockwise (CW)
05h ON Counter-clockwise (CCW)
Table 8.61: Counting direction and scaling parameters
This is an example how to set the "operating parameters" object 6000h to "scaling ON"
and "CCW":
600h+ID 8 2Bh 00h 60h 00h 05h 00h 00h 00h
CAN-ID DLC Command Object
L
Object
H Sub-
Index Byte0 Byte1 Byte2 Byte3
Table 8.62: Example setting operating parameters
The encoder responds with a standard SDO acknowledge. Now scaling is active and
the two scaling parameters "measuring range per revolution" and "total measuring
range" are applied. Singleturn resolution and total measuring range can now be
changed.

The measuring range per revolution or singleturn resolution is the number of
units (bit) per revolution.

The total measuring range is the singleturn resolution multiplied with the number
of countable revolutions (multiturn resolution).
Example: Singleturn resolution: 4096 steps per revolution = 12 bit = 10 00h Total
measuring range: 536 870 912 units = 29 bit = 20 00 00 00h ) => Max. Multiturn
resolution: 29 Bit - 12 Bit = 17 Bit = 131072 revolutions (02 00 00h)