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Technical Manual

WDGA with CANopen-Interface

1 - Introduction

© Wachendorff Automation GmbH & Co. KG

2

Rev.1.24

When reading, pay particular attention to the information, important notices and
warnings that are marked with the corresponding symbols (see 1.2.1).

Section 4 Quick start shows a way how to configure the encoder in a very general
setting with minimal functionality. For optimal usage of the device, it is necessary to
read all the following information. Abbreviations and specific wording is explained at
the beginning of this manual.

This  manual  is  intended  for  persons  with  technical  knowledge  in  the  handling  of
sensors,  CANopen  interfaces  and  automation  elements.  If  you  do  not  have  any
experience  in  this  field,  request  the  assistance  of  experienced  personnel  before
proceeding.

Keep the information provided with our product in a safe place so that you can refer to
it at a later date as necessary.

1.2.1 Symbols



The INFO symbol indicates a section that contains particularly

important information for advanced use of the device.



The IMPORTANT symbol is shown next to a section of text that

describes a method for solving a particular problem.



The WARNING symbol indicates that the adjacent instructions

must be observed to ensure correct use of the device and to
protect the user against hazards.

1.3 Specifications

An encoder is a sensor that is designed to detect angular positions (singleturn) and
revolutions (multiturn). The measured data and variables are processed by the
encoder and provided as electrical output signals for the connected peripherals.

The interface and protocol for the communication between encoder and attached
equipment meets the CAN and CANopen specifications. The encoder is capable of
CAN 2.0A and CAN 2.0B. The implemented CANopen protocol meets the CiA 406
encoder profile.

For an easy configuration of the encoder, EDS files (electronic data sheet) are provided
at the download area at

www.wachendorff-automation.com

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Содержание WDGA CANopen

Страница 1: ...R e v 1...

Страница 2: ...ff Automation assumes no liability and provides no guarantee for the correctness of this manual s contents or for any resulting direct or indirect damages In the interests of continuous innovation and...

Страница 3: ...cator and signal codes 6 4 Quick start 8 4 1 CAN network integration 8 4 2 SDO command to set the node ID 8 4 3 Setting up the encoder 9 5 General information about CAN 11 5 1 CAN physical and transpo...

Страница 4: ...ice profile 36 7 7 SYNC 36 7 8 Encoder designation 36 7 9 Error behaviour 37 7 10 NMT start up behaviour 37 7 11 Bus Off Auto Reset 37 7 12 Customer Data 38 7 13 Temperature 38 7 14 Verify Configurati...

Страница 5: ...DO 59 8 5 3 Asynchronous PDO 59 8 5 4 Variable PDO mapping 60 8 6 Changing resolution and direction 63 8 7 Position preset 64 8 8 Position value filtering 65 8 9 Change speed integration and speed sca...

Страница 6: ...3 2 LED indications 1 6 Figure 3 3 LED indications 2 7 Figure 5 1 Example of the arbitration 12 Figure 5 2 Bitstuffing 12 Figure 5 3 ISO OSI Modell 13 Figure 8 1 read object 45 Figure 8 2 write objec...

Страница 7: ...6335h 6504h 26 Table 6 10 Device specific objects 6505h 6510h 27 Table 6 11 manufacturer specific objects 2100h 2500h 28 Table 6 12 manufacturer specific objects 2502h 2504h 29 Table 7 1 Structure of...

Страница 8: ...nt of write access of object 6009h 51 Table 8 27 Declaration of used abbreviations in Figure 8 7 52 Table 8 28 send first segment 52 Table 8 29 Acknowledgement send by the encoder 52 Table 8 30 Declar...

Страница 9: ...and scaling parameters 63 Table 8 62 Example setting operating parameters 63 Table 8 63 Change of singleturn resolution by SDO 64 Table 8 64 Change of total measuring range by SDO 64 Table 8 65 Set p...

Страница 10: ...on encoder features EDS file Electronic data sheet standardised file describing a CANopen device EMC Electromagnetic Compatibility Encoder here synonym for absolute rotary encoder e g for example exem...

Страница 11: ...equest rw Read Write parameter can be read and written SDO Service Data Object communication object providing access to all entries of the object dictionary ST Singleturn SYNC Synchronisations telegra...

Страница 12: ...combined with a leading 0306 and fixed within the encoder firmware e g Rev 1 00 0306 0100h Rev 1 06 0306 0106h The serial number is marked green here 12345656 This decimal value transferred into hex i...

Страница 13: ...at a later date as necessary 1 2 1 Symbols The INFO symbol indicates a section that contains particularly important information for advanced use of the device The IMPORTANT symbol is shown next to a...

Страница 14: ...the machine s manufacturer 2 2 Intended use Rotary encoders are components that are intended for installation in machines Before commissioning operation in accordance with the intended use it must be...

Страница 15: ...ust be tested before commissioning Appropriate safety measures must be taken to ensure that no persons are harmed and no damage to the system or operating equipment occurs in the event of a failure or...

Страница 16: ...r the hollow bore shaft will be connected to the rotating part of which the angular position or rotation you want to measure The encoder itself is mounted by several tapped bores or torque supports A...

Страница 17: ...s NMT Status information LED off continue like first cycle LED Indications ms Green ON Encoder is in OPERATIONAL state 0 500 1000 1500 2000 2500 Green blinking Encoder is in PRE OPERATIONAL state us 0...

Страница 18: ...lash Error a guard event or a heart beat event heartbeat consumer has occurred 0 500 1000 1500 2000 2500 Cycle Red tripple flash Encoder is bus passive 0 500 1000 1500 2000 2500 Cylce red green flicke...

Страница 19: ...t the bus When the baudrate is detected the encoder is set to this rate sends its boot up message and switches into pre operational mode To prevent possible collisions in case double assigned node ID...

Страница 20: ...ective after a reset of the encoder hard reset or NMT reset The new node ID is stored into the EEPROM immediately and without a further command The setting of the node ID via LSS is described in chapt...

Страница 21: ...jects PDO The encoders default configuration plans that the PDO1 is triggered once the position value changes The position value object 6004h is mapped in PDO1 and transmitted as an Unsigned32 By defa...

Страница 22: ...s CANHIGH CANLOW Therefore CAN has a good common mode rejection ratio Data is transmitted with bits that can either be dominant or recessive The dominant 0 always overwrites the recessive 1 The topolo...

Страница 23: ...cal messages should be assigned to the high priority CAN IDs but even then there is no determination in the time of transmission non deterministic transmission For the arbitration all nodes have to be...

Страница 24: ...km 125 kBit s 530 m 250 kBit s 270 m 500 kBit s 130 m 1 MBit s 40 m Table 5 1 CAN baud rates und recommended cable length limits 5 2 CANopen CANopen is a specified higher protocol layer 7 protocol Fi...

Страница 25: ...on of baudrate und node ID via LSS CiA 306 Electronic Data Sheet CiA 406 Device Application profile Table 5 2 Draft Standards 5 3 2 Mechanisms of communication There are several different CANopen comm...

Страница 26: ...usly The sending of the PDOs is triggered by an internal event e g the internal event timer 5 3 3 Object dictionary The object dictionary lists all data types objects and functions of the communicatio...

Страница 27: ...communication and the internal application is initialised the node switches into pre operational state From this state the NMT Master can switch the node into the other states To show that a node is...

Страница 28: ...d SDO no PDO no NMT yes SYNC no EMCY no Heartbeat yes The communication is almost completely disabled The device only reacts on NMT commands e g start node Table 5 6 Available communication Stopped 5...

Страница 29: ...er This protocol leads to a high dependence on the master A variation of the Heartbeat is the Bootup Message This type is sent out once the encoder is started and includes no information Data is 00h O...

Страница 30: ...ccurring errors indicated by EMCY volatile Unsigned8 rw no dyn 01h Standard error field 1 Unsigned32 ro 02h Standard error field 2 Unsigned32 ro 03h Standard error field 3 Unsigned32 ro 04h Standard e...

Страница 31: ...rw no 0000 0080h Node ID 1015h p 33 Inhibit time EMCY 00h Defines the minimum pause in 100 ms steps bet ween single EMCYs Unsigned16 rw no 0000h 1016h p 31 Consumer heartbeat time 00h Defines the time...

Страница 32: ...1h 05h Event Timer Unsigned16 rw 0000h 1802h p 57 Transmit PDO3 com parameter 00h Defines the com parameters of the 3rd TPDO Unsigned8 co no 05h 01h COB ID for PDO Unsigned32 rw 380h Node ID 02h Trans...

Страница 33: ...ap PDO Mapping i individual dyn dynamic ST singleturn MT multiturn 6 2 Device specific objects The device specific objects comply with the CiA encoder profile specification 406 v3 2 and have the objec...

Страница 34: ...dyn 6200h Cyclic Timer 00h Changing Indicating the transmission period of asynchronous TPDOs Unsigned16 rw no 0001h 6300h p 34 CAM state register 00h Status bits of the cams of the corresponding cam c...

Страница 35: ...0 0000h 6315h CAM6 low limit 00h Indicating the lower switching point of the 6th cam Unsigned8 co no 01h 01h Changing lower switching point CAM6 Signed32 rw 0000 0000h 6316h CAM7 low limit 00h Indicat...

Страница 36: ...2 rw 0000 0000h 6327h CAM8 high limit 00h Changing Indicating the upper switching point of the 8th cam Unsigned8 co no 01h 01h Changing upper switching point CAM8 Signed32 rw 0000 0000h 6330h CAM1 hys...

Страница 37: ...a Unsigned8 co yes 01h 01h Status of the area state register 00h within area 03h outside work area 05h outside work area Unsigned8 ro dyn 6401h Work area low limit 00h Number of sub indices Unsigned8...

Страница 38: ...Fh 6509h Offset value 00h Offset value calculated from the preset value 6003h Signed32 ro no 0000 0000h 650Ah Module identification 00h Manufacturer specific offset Unsigned8 co no 03h 01h Manufacture...

Страница 39: ...p 65 Speed scaling 00h Speed value scaling Unsigned8 co no 02h 01h Multiplier Unsigned16 rw 0001h 02h Divisor Unsigned16 rw 0001h 2107h p 66 Frequency Limit 00h Limit for Speed value Unsigned16 rw no...

Страница 40: ...igned32 ro dyn 2503h Alarms History 00h Logging of alarms occurred Number of alarms Unsigned8 co no dyn 01h Alarm 1 Unsigned16 ro dyn 02h Alarm 2 Unsigned16 ro dyn 03h Alarm 3 Unsigned16 ro dyn 04h Al...

Страница 41: ...CAN ID of the NMT is always ZERO and therefor has the highest priority 0 02h Command Node ID CAN ID DLC Byte 0 Byte 1 Table 7 1 Structure of NMT command Command The command determines the intended rea...

Страница 42: ...rtbeat The object 1016h sub Index 01h defines the consumer heartbeat time The encoder uses this time to monitor another heartbeat producer If the monitored heartbeat does not occur within this time e...

Страница 43: ...re of an EMCY Error Code H L Description 0000h no error 4200h Temperature out of tolerance 5000h Hardware failure EEPROM 8110h CAN overrun 8120h CAN Error passive state 8130h Heartbeat Life guarding e...

Страница 44: ...e transmission of EMCY messages can be disabled by setting bit 31 MSB in object 1014h 00h By changing 1015h a minimum pause between two EMCYs can be defined in steps of 100 s 7 4 Error Objects 7 4 1 M...

Страница 45: ...ne single channel Every cam is defined by its low and high limit the hysteresis and the polarity 7 5 1 CAM state register The cam state register object 6300h represents the state of the 8 cam switches...

Страница 46: ...er The cam polarity register object 6302h sub index 01h alters the polarity of the corresponding cam states in cam state register By default all cams are high 1b when the position value is within the...

Страница 47: ...20h 6327h 7 6 Device profile Object 1000h provides the number of the implemented device profile and the device type 0001 0196h singleturn encoder DS 406 device profile 0002 0196h multiturn encoder DS...

Страница 48: ...Index 1F80h determines the encoders NMT start up behaviour only sub index 0 is supported There are 3 options Value Description 00h Default behaviour go PRE OPERATIONAL 02h Send NMT command Start All...

Страница 49: ...te The unit is C Crossing the temperature limits will set the error register object 1001h 00h to 1000b 08h and trigger a non recurring EMCY message The warning object 6505h will also be effected By de...

Страница 50: ...fts must not touch each other Please mind the maximal permitted load of the shafts Suitable accessories can be found on www wachendorff automation com Use the threaded bores to screw the encoder flang...

Страница 51: ...the bus We recommend the use of a T adapter Terminations and other accessories are also available at www wachendorff automation com Pin assignment according to CiA 303 Variations possible e g 58V Def...

Страница 52: ...and inquire services Node ID Vendor ID Product code Revision number Serial number A LSS message has the following form CAN ID DLC Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Table 8 2 LSS messa...

Страница 53: ...5744 4741h 42h Revision number Revision of encoder 43h Serial number Serial number of encoder Table 8 4 LSS Selective Identification Commands Detailed information about revision number and serial numb...

Страница 54: ...d LSS configuration mode Step 1 store parameters Step 2 Leave configuration mode 7E5h 04h 00h 00h 00h 00h 00h 00h 00h Table 8 7 End LSS configuration mode Step 2 Leave configuration mode Step 3 Reset...

Страница 55: ...use 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 baudra...

Страница 56: ...ects You can use SDO communication to read or write on objects Figure 8 1 read object The structure of a SDO message is Client master to server encoder 600h ID 8 40h 04h 60h 00h 00h 00h 00h 00h CAN ID...

Страница 57: ...3 Byte Parameter to SDO master 4Bh Response 2 Byte Parameter to SDO master 4Fh Response 1 Byte Parameter to SDO master 80h Abort code Failure Failure code 41h Response SDO segmented transfer started...

Страница 58: ...to 127 segments of 4 byte For example you want to to read the high precision preset position value Obj 6008h or perform a high precision preset Obj 6009h so you have to use the segmented SDO transfer...

Страница 59: ...size indicator 0 data set size not indicated 1 data set size indicated m multiplexor index sub index of data to be transferred d data e 0 s 0 d is reserved e 0 s 1 d number of bytes to be read e 1 s...

Страница 60: ...a Segment data At most 7 byte of segment data n Number of bytes that don t contain segment data Bytes 8 n 7 don t contain segment n 0 if no segment size indicated x not used always 0 reserved reserved...

Страница 61: ...e next data segment 580h ID 8 1Dh 00011101b scs 0 t 1 n 6 c 1 data x x x x x x CAN ID DLC Command Object L Object H Sub Index Byte0 Byte1 Byte2 Byte3 Table 8 24 Answer with next segment Within this se...

Страница 62: ...quest for 8 bytes of data on object 6009h 600h ID 8 21h 00100001b ccs 1 e 0 s 1 09h 06h 00h 08h 00h 00h 00h CAN ID DLC Command Object L Object H Sub Index Byte0 Byte1 Byte2 Byte3 Table 8 25 SDO write...

Страница 63: ...e 0 s 0 d is reserved e 0 s 1 d number of bytes to be written e 1 s 1 d data of length 4 n to be written e 1 s 0 d unspecified number of bytes to be written X not used always 0 reserved reserved for...

Страница 64: ...response c more segments indicator 0 more segments to be written downloaded 1 no more segments to be written downloaded seg data Segment data At most 7 byte of segment data n Number of bytes that don...

Страница 65: ...drate selection The encoders WDGA by Wachendorff Automation provide an automatic baudrate detection It is also possible to use a fixed baudrate which can be set by either LSS as described above or SDO...

Страница 66: ...simple SDO write command 600h ID 8 2Fh 01h 21h 00h Node 00h 00h 00h CAN ID DLC Command Object L Object H Sub Index Byte0 Byte1 Byte2 Byte3 Table 8 35 Node ID selection Valid node IDs can be Encoder n...

Страница 67: ...ommand Byte Node ID Table 8 38 NMT command Stop remote node To switch the encoder into Pre Operational state the Enter Pre Operational State command is used 0 02h 80h 0 127 CAN ID DLC Command Byte Nod...

Страница 68: ...NMT Status CAN ID DLC Data Remote Byte 0 Table 8 43 Structure of heartbeat message NMT state NMT Status Code Boot up 00h Stopped 04h Pre Operational 7Fh Operational 05h Table 8 44 Heartbeat NMT state...

Страница 69: ...have to change the MSB of the PDO COBID object PDO Object COB ID object PDO enabled COB ID object PDO disabled 1 1800h 4000 0181h C000 0181h 2 1801h 4000 0281h C000 0281h 3 1802h 4000 0381h C000 0381h...

Страница 70: ...SYNC message received 8 5 3 Asynchronous PDO Cyclic triggered by internal event timer PDOs can be configured for asynchronous cyclic transmission Therefor the transmission type in object 1800h 02h re...

Страница 71: ...ommend the use of synchronous or timer triggered transmission 8 5 4 Variable PDO mapping Variable PDO mapping means that the PDO payload can be configured by the user This mapping must match between e...

Страница 72: ...use the WDGA PDO mapping the mapping parameters for the transmit PDO have to be configured see object dictionary Table 6 1 ff Step 1 Delete current mapping Step 2 Re mapping the PDO Step 3 Activating...

Страница 73: ...ains the object to be mapped and its size Object 6030h sub index 1 Size 10h 2 Byte Mapping of acceleration value No 3 Size 16 bit 10h into object 1A00h sub index 3 for PDO1 600h ID 8 23h 00h 1Ah 03h 1...

Страница 74: ...on 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 I...

Страница 75: ...ignated total measuring range Singleturn resolution and total measuring range do not have to match the bit grid Every value between 1 and the maximum is valid The total measuring range cannot be less...

Страница 76: ...ing The encoder uses an integration time to calculate the speed value This time interval can be adjusted by object 2105h sub Index 2 The unit for this time is milliseconds The default value of 1000 mi...

Страница 77: ...example how to configure the cam channel That means for single cams CAM Angular area lower CAM limit upper CAM limit Hysteresis 1 0 180 0 2048 0 2 180 360 2049 4095 0 3 0 60 0 682 0 Table 8 67 Exampl...

Страница 78: ...ow Limits 1 2 und 3 is similar CAM 1 0 00h 600h ID 8 23h 10h 63h 01h 00h 00h 00h 00h CAN ID DLC Command Object L Object H Sub Index Byte0 Byte1 Byte2 Byte3 Table 8 72 CAM Low Limit 1 CAM 2 2049 0801h...

Страница 79: ...ription 0 co Number of objects 1 wo Save all parameters 2 wo Save communication objects 3 wo Save application objects 4 wo Save manufacturer objects Table 8 75 Saving parameters To trigger the storage...

Страница 80: ...ode Description 0 co Number of objects 1 wo Restore all parameters 2 wo Restore communication objects 3 wo Restore application objects 4 wo Restore manufacturer objects Table 8 77 Restoring parameters...

Страница 81: ...ith the encoder Check node ID and baudrate Status LED is shining orange no communication Check the correct termination 2 terminations 120 Ohms each at the ends and the length of the bus lines and stub...

Страница 82: ...tomation GmbH Co KG 71 Rev 1 24 10 Support Technical application advisor Do you have any questions about this product Our technical application advisor will be pleased to help you Tel 49 0 67 22 99 65...

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