Wachendorff WDGA CANopen, Техническое руководство

Страница: 19 / 82

Technical Manual
WDGA with CANopen-Interface
4 - Quick start
© Wachendorff Automation GmbH & Co. KG 8 Rev.1.24
4 Quick start

The encoder indicates every status modification with its status-
LED. See chapter 3.3 "LED status indicator and signal codes".
4.1 CAN network integration
The default node ID of Wachendorff Automation encoders (Object 2101h sub-Index:
00h) is 7Fh=127d.
For operating in a CAN-Network, the encoder’s baudrate has to be set. The common
ways to set the baudrate is via LSS (CiA DSP-305) or a SDO command.
Wachendorff Automation WDGA encoders have the capability to detect the baudrate
of the network automatically (object 2100h sub-Index: 00h value: 09h - Baudrate-auto-
detection). So usually the baudrate setup is not necessary. To detect the valid baudrate
the encoder stays passive and scans the communication at 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 it is recommended to
use a 1:1 connection with a bus master for configuration (e.g. a laptop computer with
suitable hard- and software). Set the master on the intended baudrate and use SDO
or LSS services to configure the encoder.
4.2 SDO command to set the node ID
After connecting the encoder WDGA with the CAN bus respectively the master (e.g. a
laptop computer with suitable hard- and software) the LED starts "flickering red and
green" (see Figure 3.3 LED indications 2).
First send one or more SYNC messages, which the encoder can use to detect the
baudrate:
080h 8 00h 00h 00h 00h 00h 00h 00h 00h
CAN-ID DLC Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6
Table 4.1: SYNC-message
The encoder will detect and lock on the used baudrate. It will send its boot-up message
and the LED starts to blink green (see Figure 3.2).