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Technical Manual

WDGA with EtherCAT

6 - TwinCAT 3

Rev.1.09

6 TwinCAT 3

6.1 Commissioning



The XML file must be copied into the following directory:

...\TwinCAT\lO\EtherCAT



You can download the file from

www.wachendorff-automation.de

- Start TwinCAT and a new project.
- Now carry out the following steps.



Ensure that you have an Intel network card in your PC.

TwinCAT only works reliably with certain types.

- Expand the tree at "I/O" and right-click on Device. Then click SCAN.

Figure 6.1: TwinCAT

– Scan

Содержание WDGA Series

Страница 1: ...R e v...

Страница 2: ...s no liability or warranty for the correctness of this manual or for any direct or indirect damage that may arise from it In the pursuit of constant innovation and cooperation with customers we reserv...

Страница 3: ...ipment 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 t...

Страница 4: ...t mask 26 4 3 3 6 2902h Gateway 26 4 3 4 Encoder specific objects 27 4 3 4 1 6000h Operating parameters 34 4 3 4 2 6001h Measuring units per revolution 34 4 3 4 3 6002h Total measuring range 34 4 3 4...

Страница 5: ...ion 40 4 3 4 30 6502h Number of distinguishable revolutions 40 4 3 4 31 6503h Alarms 40 4 3 4 32 6504h Supported alarms 40 4 3 4 33 6505h Warnings 41 4 3 4 34 6506h Supported warnings 41 4 3 4 35 6507...

Страница 6: ...Technical Manual WDGA with EtherCAT Table of contents Wachendorff Automation GmbH Co KG V Rev 1 09 5 5 Contact 53 6 Commissioning with TwinCAT 54 7 Technical advice 61...

Страница 7: ...ngs 48 Figure 5 5 Encoder information 49 Figure 5 6 Firmware update 50 Figure 5 7 Firmware update selecting the file 50 Figure 5 8 Firmware update transfer file 51 Figure 5 9 Firmware update successfu...

Страница 8: ...EtherCAT object 1C00h 23 Tabelle 4 15 Sync Manager 3 PDO assignment EtherCAT Objekt 1C13 23 Table 4 17 Sync Manager 3 synchronisation EtherCAT Objekt 1C33h 24 Table 4 16 Manufacturer specific objects...

Страница 9: ...ou have is the most recent When reading pay particular attention to information important and warning points that are marked with corresponding symbols see 1 1 1 This manual is designed for people wit...

Страница 10: ...of text in which a process is described to resolve a particular problem The WARNING symbol is placed next to a section of text that should be paid particular attention to in order to ensure the corre...

Страница 11: ...uct range from Wachendorff can be found on our website www wachendorff automation de 1 3 Description of services An encoder is a sensor used to capture angle positions single turn and revolutions mult...

Страница 12: ...your order Before commissioning you should check the supplied package for completeness Generally speaking the WDGA product series with an EtherCAT interface comprises the following supplied package WD...

Страница 13: ...er s operating instructions must be observed 2 2 Correct use Encoders are components designed for installation in machinery Before commissioning correct operation it must be ensured that the machine a...

Страница 14: ...fore commissioning Suitable safety measures should be deployed to ensure that in the event of a failure or malfunction no physical harm can occur and there is no damage to the system or operating faci...

Страница 15: ...status LEDs in the cover indicate the various states of the encoder during use They support the configuration of the encoder or troubleshooting in the field The flange drill holes or supplied spring...

Страница 16: ...dium access controller MAC without an additional communication processor This means that a master can be installed on any hardware platform that provides an Ethernet port The EtherCAT slaves use an Et...

Страница 17: ...A simple two part complement invert each bit and add 1 of the position value can reverse the positive direction of revolution 3 3 4 Preset In a specific physical position the encoder can be assigned...

Страница 18: ...3 36000 3600 10 4 In exceptional cases the TMR does not need to be a whole integer multiple of the MUPR For example if a translation in a system causes the desired measuring parameter to move 10 faste...

Страница 19: ...with a bus cover The electrical connection is made at the bus cover via the 2 x M12 plugs and 1 x M12 socket The connection assignment of the plugs and sockets can be found in Table 3 1 Connection ass...

Страница 20: ...witch other field device etc and data is being exchanged The MOD LED indicates operation always lighting up green when the supply voltage is connected The STAT LED indicates the EtherCAT status Red si...

Страница 21: ...50 500 750 1000 1250 C y c l e Double flash 0 500 1000 1500 2000 2500 C y c l e Colour Function Status Meaning Red Error Off No error Flashing Invalid configuration Single flash Local error Double fla...

Страница 22: ...orff EtherCAT encoder has a MAC address This always starts with D4 90 E0 xx xx xx In its shipped status the EtherCAT encoder has the IP address of 192 168 1 127 The IP address can be configured on the...

Страница 23: ...encoder class C3 Web server Standard web server Further features Distributed clocks Sync Manager Outputs SM3 SDO upload download SDO information services Station alias Diagnosis processing Table 4 1...

Страница 24: ...00h Contains the devices software version string72 co no 1010h Store parameters 00h Saves object directory settings Unsigned8 co no 04h 01h All object directory content Unsigned32 rw 0000 0001h 02h Co...

Страница 25: ...06h 25h Message 1 32 Unsigned64 ro 0000 0000h 1A00h 1st TPDO mapping parameter 00h Defines the PDO mapping for the first TPDO Unsigned8 rw no 05h 01h 1st Output object Default object 6004h Position v...

Страница 26: ...3 0010h 04h 4th Output object Default 6505h Warnings Unsigned32 rw 6505 0010h 05h 5th Output object Default 6300h CAM state Unsigned32 rw 6300 0108h 06h 6th Output object Default 6410h High resolution...

Страница 27: ...cle Time Unsigned32 ro 0000 0000h 04h Synchronization types supported Unsigned16 ro 0007h 05h Minimum cycle Time Unsigned32 ro 0000 C350h 06h Calc and Copy Time Unsigned32 ro 0001 7AE8j 0A h Sync0 Cyc...

Страница 28: ...s 2 Where Save communication objects 3 Where Save application objects 4 Where Save manufacturer objects Table 4 8 1001h Parameter storage options Saving is initiated by populating the corresponding su...

Страница 29: ...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 fi...

Страница 30: ...ynamically configured The standard mapping of the second PDO is listed in the table below Here too the sub indices are set up as in Table 4 13 Sub idx Access Meaning 00 rw Number of mapped objects Def...

Страница 31: ...e 2 Mailbox send Slave to Master 3 Unsigned8 ro Communication type SM2 Value 3 Rx PDO 4 Unsigned8 ro Communication type SM3 Value 4 Tx PDO Tabelle 4 15 Sync Manager communication type EtherCAT object...

Страница 32: ...SM3 Event 2 DC Modus synchronous with Sync0 Event 1 2 Unsigned32 ro Cycle time in ns 0 4 Unsigned16 ro Synchronization Types Supported Bit 0 Free Run Bit 1 Sync SM Event Bit 2 4 Sync Mode Bit 5 6 Shi...

Страница 33: ...2 rw 0000 0000h 02h Customer data 2 Unsigned32 rw 0000 0000h 03h Customer data 3 Unsigned32 rw 0000 0000h 04h Customer data 4 Unsigned32 rw 0000 0000h 05h Customer data 5 Unsigned32 rw 0000 0000h 06h...

Страница 34: ...ngth of speed filter value Table 4 19 Integration values EtherCAT object 2105h 4 3 3 2 2107h Frequency limit Sub idx Acces s Description 00 rw If this limit speed is exceeded bit 0 is set in object 65...

Страница 35: ...T MT Unsigned32 ro Yes 6008h High precision position value 00h Output of the position if measuring range 32 bit Unsigned64 ro Yes 6009h High precision preset value 00h Change display of the high preci...

Страница 36: ...inverted Unsigned8 rw 00000000b 6310h CAM1 low limit 00h Lower switching point for the 1st CAM Unsigned8 co no 01h 01h Change of the lower switching point for the 1st CAM Signed32 rw 0000 0000h 6311h...

Страница 37: ...nge of the upper switching point for the 2nd CAM Signed32 rw 0000 0000h 6322h CAM3 high limit 00h Upper switching point for the 3rd CAM Unsigned8 co no 01h 01h Change of the upper switching point for...

Страница 38: ...pends on the height of this value Unsigned3 2 rw 0000 0000h 6333h CAM4 hysteresis 00h Hysteresis for the switching points of the 4th CAM Unsigned8 co no 01h 01h The size of the hysteresis depends on t...

Страница 39: ...h 01h Change of the upper switching point for the 1st 8th CAM Signed64 rw 0000 0000 0000 0000h 6360h 6367h High resolution CAM 1 8 hysteresis 00h Hysteresis for the switching points of the 1st 8th CAM...

Страница 40: ...rw 7FFF FFFF FFFF FFFFh 6500h Operating status 00h Contains the values from object 6000h Unsigned1 6 ro no 6501h Single turn resolution 00h Display of the single turn resolution Unsigned3 2 co no 0001...

Страница 41: ...gned32 co ST 0000 FFFFh MT FFFF FFFFh 650Bh Serial number 00h Display the serial number of the encoder Unsigned8 co no 01h 01h Serial number Unsigned32 co 650Dh Absolute accuracy 00h Absolute accuracy...

Страница 42: ...n value but it is enough to use the values shown here The settings are made in object 6000h sub index 00h A list of the possible configurations is set out below Code byte 0 Scaling Direction of revolu...

Страница 43: ...value is output via object 6004h 4 3 4 6 6008h High precision position value See 4 3 4 5 only with max 64 bit instead of max 32 bit 4 3 4 7 6009h High precision preset value See 4 3 4 4 only with max...

Страница 44: ...s the time interval for calculating the speed It is specified in milliseconds e g 64h 100 ms Together multipliers and dividers represent a freely configurable factor They can be used to convert increm...

Страница 45: ...to 1 in binary notation If only CAM 2 CAM 4 and CAM 7 are supposed to be active for example then according to the binary notation Position 7 MSB 6 5 4 3 2 1 0 LSB Type CAM 8 CAM 7 CAM 6 CAM 5 CAM 4 C...

Страница 46: ...limit The upper switching point of a cam switch position is defined via the CAM high limit Each individual cam switch position CAM 1 CAM 8 has its own CAM high limit object see object index 6320h 6327...

Страница 47: ...nd 05h below the value of object 6401h 4 3 4 23 6401h Work area low limit Object 6401h sub index 01 is used to define the lower limit of the work area 4 3 4 24 6402h Work area high limit Object 6402h...

Страница 48: ...lutions Object 6502h can be used to read out the maximum number of distinguishable revolutions Multi turn resolution 4 3 4 31 6503h Alarms Object 6503h shows a possible position error see Table 4 34 1...

Страница 49: ...ting time limit Always 0 2 CPU watchdog status always 0 not supported 1 Light control Always 0 not optical but rather magnetic sensors 0 Frequency exceeded Is set if the speed defined in object 2107h...

Страница 50: ...manufacturer max position 4 3 4 39 650Bh Serial number Object 650Bh contains the serial numbers of the encoder 4 3 4 40 650Dh Absolute accuracy Object 650Dh can be used to read out the absolute accura...

Страница 51: ...umber of high precision revolutions Object 6510h specifies the number of revolutions distinguishable by the sensor Currently the value is FF FFFF FFFFh The specification defines this parameter as an U...

Страница 52: ...c To do this connect the encoder via an Ethernet cable M12 plug to the encoder and RJ45 plug to the PC to your computer Ensure that your PC is installed in the same IP address range as the encoder and...

Страница 53: ...ame Name of EtherCAT device MAC devices Encoder MAC address MAC port 1 MAC address of Ethernet port 1 MAC port 2 MAC address of Ethernet port 2 IP address IP address of your EtherCAT encoder Network m...

Страница 54: ...46 Rev 1 09 5 2 2 Diagnosis Figure 5 2 Diagnostics page Exception This is where possible causes of errors can be displayed If you see an error here contact us and tell us what the information says Fie...

Страница 55: ...A with EtherCAT 5 Web server Wachendorff Automation GmbH Co KG 47 Rev 1 09 5 2 3 Versions Figure 5 3 Versions Figure 5 3 shows information about the individual version states such as Application SDAI...

Страница 56: ...rff Automation GmbH Co KG 48 Rev 1 09 5 3 Configuration 5 3 1 Network Figure 5 4 Network settings This is where you can change the device name IP address network status and gateway Please note that yo...

Страница 57: ...chendorff Automation GmbH Co KG 49 Rev 1 09 5 3 2 Encoder Figure 5 5 Encoder information You can check the parametrised values of the encoder in Figure 5 5 Position with scaling RAW position without s...

Страница 58: ...Figure 5 6 Firmware update The encoder s current firmware version is displayed If a new firmware version is available you can update the version on the encoder here Please note that you can only carry...

Страница 59: ...t the firmware update An animated display appears showing the following text Transferring file see Figure 5 8 and after the transfer is done you will see a warning Updating FLASH This takes about 2 mi...

Страница 60: ...and then check under Information Versions whether the new firmware version is displayed Figure 5 10 Firmware update successful If the firmware update fails see Figure 5 11 please check that you have s...

Страница 61: ...e information This is where you will find the current safety instructions as well as firmware program packages You can download the source code of these packages via the link on this website 5 5 Conta...

Страница 62: ...e following directory TwinCAT lO EtherCAT You can download the file from www wachendorff automation de Start TwinCAT and a new project Now carry out the following steps Ensure that you have an Intel n...

Страница 63: ...erCAT 6 TwinCAT 3 Wachendorff Automation GmbH Co KG 55 Rev 1 09 Confirm the message shown in Figure 6 2 with OK Figure 6 2 TwinCAT Scan Message Choose your TwinCAT enabled network card see Figure 6 3...

Страница 64: ...gure 6 4 The system is scanned for EtherCAT members Figure 6 4 TwinCAT Scan for boxes Figure 6 5 TwinCAT Activate Free Run Once the scan is complete confirm the following window with Yes see Figure 6...

Страница 65: ...scaling function make sure that the object with index 6000 is set to e g 0x0004 in the CoE Online tab see Figure 6 7 If not double click it and change the value see Figure 6 8 to your desired setting...

Страница 66: ...e Figure 6 9 and the number of countable revolutions to 10 so the number of total steps must be set to 3600 s Figure 6 10 Figure 6 9 Scaling 6001 measuring units per revolution Figure 6 10 Scaling Tot...

Страница 67: ...x 6003 Double click object 6003 in the tab CoE Online Enter the desired value in the example 0 and confirm with OK Figure 6 12 shows the value before the preset Figure 6 13 shows that the preset has b...

Страница 68: ...ev 1 09 6 4 Save settings To ensure that settings are retained even after a voltage reset the values must be saved This is done by setting the value of object 1010 01 to 1702257011 as Dec and confirmi...

Страница 69: ...on GmbH Co KG 61 Rev 1 09 7 Technical advice Technical applications advisers Do you have any questions about this product Your technical applications advisers will be happy to help you Tel 49 0 67 22...

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