Wachendorff WDGA Series, Техническое руководство

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Technical Manual
WDGA with EtherCAT
Table of contents
© Wachendorff Automation GmbH & Co. KG II Rev.1.09
1 Introduction ..................................................................................... 1
1.1 About this manual .......................................................................................... 1
1.1.1 Explanation of symbols ........................................................................... 2
1.1.2 What you will not find in this manual ....................................................... 2
1.2 Product assignment ....................................................................................... 3
1.3 Description of services .................................................................................. 3
1.4 Supplied package .......................................................................................... 4
2 Safety information ........................................................................... 5
2.1 General .......................................................................................................... 5
2.2 Correct use .................................................................................................... 5
2.3 Safe working .................................................................................................. 6
2.4 Disposal ......................................................................................................... 6
3 Description of the equipment ......................................................... 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 Communication protocols ............................................................................ 15
4.3 CAN over EtherCAT (CoE) .......................................................................... 15
4.3.1 General ................................................................................................. 15
4.3.2 Communication-specific objects ............................................................ 16
4.3.2.1 1000h
– Device type ....................................................................... 19
4.3.2.2 1001h
– Error register..................................................................... 19
4.3.2.3 1008h
– Manufacturer device name ............................................... 20