Wachendorff WDGA Series, Техническое руководство

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Technical Manual
WDGA with EtherCAT
4 - EtherCAT
© Wachendorff Automation GmbH & Co. KG 21 Rev.1.09
4.3.2.6 1018h - Identity object
Sub-index Access Meaning
0 rw Number of mapped objects default
value: 4
1 rw Vendor ID
2 rw Product code
3 rw Revision number
4 rw Serial number
Table 4.10: 1018h
– Identity object
4.3.2.7 10F3h
– Diagnosis history
Sub-index Type Access Meaning
0 Unsigned8 ro Nr. of objects
Value: 5..37
1 Unsigned8 ro Max. nr. of messages
Wert: 32
2 Unsigned8 ro Subindex of recent message
3 Unsigned8 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 Output object
Default object: 6004h Position value
02 rw 2nd Output object,
Default: 6030h Speed
03 rw 3rd Output object,
Default: 6503h Alarms
04 rw 4th Output object,
Default: 6505h Warnings
05 rw 5th Output object,
Default: 1001h Error register
Table 4.12: 1st transmit PDO default mapping (EtherCAT object 1A00h)