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Technical Manual

WDGA with EtherNet/IP

1 - Introduction

© Wachendorff Automation GmbH & Co. KG

1

1 Introduction

1.1 About this manual

This technical manual describes the configuration and mounting possibilities for
absolute-value encoders with a EtherNet/IP interface for firmware version greater 1.02
produced by Wachendorff Automation. It supplements the other publicly available
Wachendorff automation documents, e.g. data sheets, assembly instructions, leaflets,
catalogues and flyers.

Ensure that you read the manual before commissioning

— check beforehand that you

have the latest version of the manual.

When reading, pay particular attention to the information, important notices and
warnings that are marked with the corresponding symbols (see 1.1.1).

This  manual  is  intended  for  persons  with  technical  knowledge  in  the  handling  of
sensors,EtherNet/IP  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.

•

The contents of this manual are arranged in a practice-oriented

manner.

•

For optimum use of the device, all information in the following

sections is important and should be read.

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Содержание WDGA58E

Страница 1: ...R e v...

Страница 2: ...t copyright Wachendorff Automation accepts 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...

Страница 3: ...information 7 3 2 EtherNet IP 7 3 3 WDGA basic principles 7 3 3 1 Singleturn ST QuattroMag 8 3 3 2 Multiturn MT EnDra 8 3 3 3 Direction of rotation 8 3 3 4 Preset 8 3 3 5 Scaling 9 3 4 Connection ass...

Страница 4: ...Firmware Update 38 5 4 Licence information 41 5 5 Contact 42 6 Commissioning 43 6 1 General 43 6 2 Deactivating DHCP mode and assigning an IP address 43 6 3 Activating DHCP mode 46 6 4 Integration int...

Страница 5: ...Technical Manual WDGA with EtherNet IP Table of contents Wachendorff Automation GmbH Co KG IV...

Страница 6: ...MAC and IP address 46 Figure 6 7 DHCP activated 46 Figure 6 8 Main menu 47 Figure 6 9 Tools EDS Hardware Installation Tool 47 Figure 6 10 EDS Hardware Installation Tool 48 Figure 6 11 Register EDS fi...

Страница 7: ...2 Figure 6 38 Webserver after successful configuration 62 Figure 6 39 Message position low limit 63 Figure 6 40 MSG position high limit 64 Figure 6 41 Assembly 100 64 Figure 6 42 Position state regist...

Страница 8: ...14 Table 4 3 Process data overview 15 Table 4 4 Assembly 1 16 Table 4 5 Assembly 2 17 Table 4 6 Assembly 3 18 Table 4 7 Assembly 100 19 Table 4 8 Assembly 101 21 Table 4 9 Config Assembly 110 23 Table...

Страница 9: ...hand that you have the latest version of the manual When reading pay particular attention to the information important notices and warnings that are marked with the corresponding symbols see 1 1 1 Thi...

Страница 10: ...scribes 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 hazar...

Страница 11: ...hendorff Automation Solid shaft absolute encoders WDGA 58A ETHERNET IP BI2 with bus cover WDGA 58B ETHERNET IP BI2 with bus cover WDGA 58D ETHERNET IP BI2 with bus cover WDGA 58F ETHERNET IP BI2 with...

Страница 12: ...ies As a result the WDGA series encoders from Wachendorff are maintenance free and very eco friendly The encoders whose article descriptions are listed in section 1 2 communicate via the EtherNet IP i...

Страница 13: ...hine 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 determi...

Страница 14: ...ested 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 malfunc...

Страница 15: ...The status LEDs mounted in the cover signal the various encoder states during operation They assist with configuration of the encoder and troubleshooting in the field The flange holes or supplied spri...

Страница 16: ...shaft The WDGA encoders from Wachendorff feature the new QuattroMag magnetic technology which provides maximum precision and resolution for a singleturn encoder 3 3 2 Multiturn MT EnDra A multiturn e...

Страница 17: ...parameters The scalable parameters are Measuring units per revolution MUPR and Total measuring range in measuring units TMR The scaling parameter Measuring units per revolution MUPR increments per re...

Страница 18: ...600 10 4 In exceptional cases it is suitable that TMR is not an integer multiple of MUPR for example in a system in which a gear ratio ensures that the desired measured variable is moving 10 faster re...

Страница 19: ...with a bus cover The electrical connection is made on the bus cover via 2x M12 connectors and 1x M12 port The connection assignments for the plugs and sockets are listed in Table 3 1 Pin assignment BI...

Страница 20: ...us of the encoder ATTENTION The STAT LED is lit during operation but is negligible for the network status of the encoder STAT LED bicolour MOD LED bicolour Meaning Cause No power Standby The device ha...

Страница 21: ...The number depends on the number of ports on the integrated three port switch There is one MAC address each for Port1 and Port2 as well as one MAC address for the internal port to which the encoder it...

Страница 22: ...setting of parameters as well as firmware updates Process data Cyclic up to 20 bytes Profile Encoder Device Profile Device Type 22h Table 4 1 Functions 4 2 List of all classes Code Class Instance 01h...

Страница 23: ...th the Position Sensor Object it is possible to access all process data acyclically 4 3 1 Process data overview Assemblies The following table lists the available assemblies You can find a detailed de...

Страница 24: ...width of 32 bits The position value is unsigned Instance Signal Description Byte Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 1 0 Position LSB Position value scaled The position value calculation i...

Страница 25: ...igned Instan ce Signal Description Byte Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 2 0 Position LSB Position value scaled The position value calculation is influenced by the following functions a...

Страница 26: ...Description Byte Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 3 0 Position LSB Position value scaled The position value calculation is influenced by the following functions among others MUPR TMR s...

Страница 27: ...lue scaled The position value calculation is influenced by the following functions among others MUPR TMR scaling function offset preset gear ratio if applicable 1 Position 2 Position 3 Position MSB 4...

Страница 28: ...Bit scaled The position value calculation is influenced by the following functions among others MUPR TMR scaling function offset preset gear ratio if applicable 1 Position64 2 Position64 3 Position64...

Страница 29: ...ignals the status of the encoder 0000 Self test 0001 FW update in progress 0010 Min one connection error 0011 No connection 0100 Configuration error 0101 Major fault 0110 Min one connection in run 011...

Страница 30: ...it 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 101 0 Preset LSB Preset The preset sets the position value to a fixed value Will only be executed if Preset Execute 1 1 Preset 2 Preset 3 Preset 4 Preset 5 Preset 6...

Страница 31: ...r MSB 24 Velocity Format LSB Sets the format of the position value 1F04h Counts per second default 1F05h Counts per ms 1F07h Counts per minute 1F0Fh Revolutions per minute 25 Velocity Format MSB 26 Di...

Страница 32: ...tify the device to the manufacturer 4 Revision USINT R Revision number of the device 5 Status WORD R Represents the current status of the device 0000b Self test 0001b FW update in progress 0010b Min o...

Страница 33: ...cates which type the position sensor has 01h Absolute singleturn encoder 02h Absolute multiturn encoder 12 Direction Counting Toggle BOOL RW Defines the counting direction of the position value with v...

Страница 34: ...ue If the value falls below the limit the status can be read out via attribute 21 23 Position High Limit DINT RW Upper limit of the end position Is compared with the position value if exceeded the sta...

Страница 35: ...whether an alarm error has occurred It corresponds to a logical OR of all alarm bits of attribute 44 47 Warnings WORD R The warnings indicate when certain parameters of the device are not adhered to o...

Страница 36: ...Bit LINT R See attribute 51 105 Hysteresis Position SINT RW Size of the hysteresis for the position value Value range 0 255 Default 04h 106 Filter Position SINT RW Number of average values for the po...

Страница 37: ...f the encoder shaft For this purpose the value of the register must be broken down in binary notation see below Each bit of the octet shows the status of a certain switching position See 4 4 2 1 114 C...

Страница 38: ...ching point of a cam switch position Each individual cam position has its own high limit attribute See 4 4 2 5 125 CAM high limits 2 LINT RW See above 126 CAM high limits 3 LINT RW See above 127 CAM h...

Страница 39: ...present the cam switching states depending on the position of the encoder shaft For this purpose the value of the register must be broken down in binary notation see below Each bit of the octet from a...

Страница 40: ...e correct value is to be found by setting the bit to 1 in binary notation for each cam switch position that is to be active For example if only CAM 2 CAM 4 and CAM 7 are to be active the result after...

Страница 41: ...see attributes 116d 123d 4 4 2 5 124d 131d CAM1 CAM8 high limit The CAM High Limit defines the upper switching point of a cam switch position Each individual cam switch position CAM 1 CAM 8 has its ow...

Страница 42: ...o this connect the encoder to your computer via an Ethernet cable M12 connector on the encoder and RJ45 connector on the PC Make sure that your PC is in the same IP address range as the encoder Exampl...

Страница 43: ...ame WDGA EP MAC device MAC address of the encoder MAC port 1 MAC address of Ethernet port 1 MAC port 2 MAC address of Ethernet port 2 IP address IP address of your EtherNet IP encoder Netmask Subnet m...

Страница 44: ...anual WDGA with EtherNet IP 5 Webserver Wachendorff Automation GmbH Co KG 36 5 2 2 Versions Figure 5 2 Versions Here you can find the information of each version status like Applikation SDAI Stack MAC...

Страница 45: ...rff Automation GmbH Co KG 37 5 3 Configuration 5 3 1 Network Figure 5 3 Network Here you can change the device name IP address network mask and gateway Please make sure that you only change the data w...

Страница 46: ...source Integration time Speed factor 5 3 3 Firmware Update Figure 5 5 Firmware update The current firmware version of the encoder is displayed If a new firmware version is available you can update the...

Страница 47: ...Technical Manual WDGA with EtherNet IP 5 Webserver Wachendorff Automation GmbH Co KG 39 Figure 5 6 Firmware update choose file...

Страница 48: ...date An animated icon will appear with the additional text Transferring file see Figure 5 7 Figure 5 7 Firmware update Transferring file After the firmware update is successfully finished you will see...

Страница 49: ...the whole firmware update process In case of a power loss during the update the encoder may not respond to any request anymore If this happens please contact our support team Figure 5 9 Firmware upda...

Страница 50: ...nual WDGA with EtherNet IP 5 Webserver Wachendorff Automation GmbH Co KG 42 5 5 Contact Figure 5 11 Contact information Contact information for additional product information and technical support is...

Страница 51: ...n DHCP mode but has a fixed IP address default 192 168 1 127 6 2 Deactivating DHCP mode and assigning an IP address If you have not done so yet then you should now first of all install Studio 5000 wit...

Страница 52: ...rectly Now click with the right mouse button on the device and select add relation A new window will appear where you can assign a static IP address and a name for the device Figure 6 2 Set IP address...

Страница 53: ...ect your device in the lower window and click on Disable BOOTP DHCP If the command was executed successfully a confirmation will again appear under Errors and Warnings Figure 6 4 DHCP deactivated Now...

Страница 54: ...Tool again Now click on add relation Add the device for this you need to know the MAC and IP address of the device The MAC address can be found on the label of the device Figure 6 6 Set MAC and IP add...

Страница 55: ...nd the relevant network If you have not yet done so then first read the relevant manual and carry out commissioning accordingly To include the encoder in Studio 5000 start it open the desired project...

Страница 56: ...EDS Hardware Installation Tool will now open Click on Next Figure 6 10 EDS Hardware Installation Tool Select Register and EDS file s and click Next again Figure 6 11 Register EDS file Next select Reg...

Страница 57: ...13 EDS installation Now finish the installation by clicking on Next in the next two windows until you reach the window shown in Figure 6 14 Now click on Finish The installation of the EDS file is now...

Страница 58: ...t IP 6 Commissioning Wachendorff Automation GmbH Co KG 50 Figure 6 15 Project navigation Search for wdga in the search bar and the WDGA EP should now be displayed Select the device and then click Crea...

Страница 59: ...gure 6 17 General If you click on Change in the General window you can set the assembly accordingly In this chapter we will only work with Assembly 1 for the time being We recommend to select DINT for...

Страница 60: ...Technical Manual WDGA with EtherNet IP 6 Commissioning Wachendorff Automation GmbH Co KG 52 Figure 6 19 Encoder configuration successful...

Страница 61: ...r Tags tab in the project navigation Now first open the WDGA EP I1 tab and then the WDGA_EP I1 Data tab Under WDGA_EP I1 Data 0 you will now see the position value Figure 6 20 Position value This conc...

Страница 62: ...ou have performed the one time parameterization with the config assembly it is recommended to remove it again First open the Module Properties of the previously created device Then select the Change b...

Страница 63: ...x is recommended Here you can configure the parameters as desired If you want to set e g the MUPR to 16 bit 65 536 the TMR to 32 bit 4 294 967 295 and the preset to 0 then set the first 8 bytes to 0 b...

Страница 64: ...er and download the program to the controller As soon as the controller is online you must establish a new connection with the device preferably voltage reset Then check for example in the web server...

Страница 65: ...ed only for non time critical information such as configuration data To parameterize the device using Explicit Messaging first create a new PLC program here Ladder Logic Figure 6 26 Example new progra...

Страница 66: ..._value DINT Preset_value DINT Scaling_toggle SINT Figure 6 28 Parameters and tags Now switch back to your main program First select the main strand and add a closer XIC using the key combination Alt I...

Страница 67: ...t you add a MSG block Then insert the name of the desired and previously created configuration into this block e g TMR Then click on the text box labeled to enter the configuration of the MSG block Fi...

Страница 68: ...al WDGA with EtherNet IP 6 Commissioning Wachendorff Automation GmbH Co KG 60 Figure 6 33 MSG block configuration Under the Communication tab select the encoder as the path Figure 6 34 MSG block path...

Страница 69: ...d and configured everything your program should look like the one shown below Figure 6 35 Configure main program Now go online with the controller and download the program you just edited Then navigat...

Страница 70: ...g Wachendorff Automation GmbH Co KG 62 Figure 6 37 Configuration successful If everything was successful then each MSG block is in DN state Check your settings by looking at the web server for example...

Страница 71: ...tion options 6 5 1 Position limits If you need software limit switches it is recommended to use Position Low High Limits To use these proceed as described in Chapter 6 4 2 Select the desired values fo...

Страница 72: ...Manual WDGA with EtherNet IP 6 Commissioning Wachendorff Automation GmbH Co KG 64 Figure 6 40 MSG position high limit Then navigate to the encoder configuration and select Assembly 100 Figure 6 41 Ass...

Страница 73: ...are inside or outside the work area Figure 6 42 Position state register inside work are Figure 6 43 Position state register outside work area 6 5 2 Preset Attribut 140h If you have already executed a...

Страница 74: ...A1 Port 1 L A2 Port 2 Status LEDs Status display for encoder and bus MOD Operating temperature 40 C to 85 C Storage temperature 40 C to 125 C Operating voltage 10 VDC to 32 VDC Current consumption ty...

Страница 75: ...Dimensions 7 2 1 WDGA 58B Figure 7 1 Dimensions WDGA 58B 7 2 2 WDGA 58F Figure 7 2 Dimensions WDGA 58F D 6 L 12 d 5 3 shaft with flat D 8 L 20 d 7 5 shaft with flat D 10 L 20 d 10 shaft without flat...

Страница 76: ...with EtherNet IP 7 Technical data Wachendorff Automation GmbH Co KG 68 7 2 3 WDGA 58E Figure 7 3 Dimensions WDGA 58E 7 2 4 WDGA 58A Figure 7 4 Dimensions WDGA 58A D 12 14 15 6 6 35 1 4 7 8 9 35 3 8 1...

Страница 77: ...Technical Manual WDGA with EtherNet IP 7 Technical data Wachendorff Automation GmbH Co KG 69 7 2 5 WDGA 58D Figure 7 5 Dimension WDGA 58D...

Страница 78: ...Wachendorff Automation GmbH Co KG 70 8 Technical support Technical application advisor Do you have any questions about this product Our technical application advisor will be pleased to help you Tel 4...

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