Wachendorff WDGA Series User manual

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Technical Manual
WDGA with EtherCAT
© Wachendorff Automation GmbH & Co. KG
I
Rev.1.09
Legal information
Wachendorff Automation GmbH & Co. KG
Industriestrasse 7
65366 Geisenheim
Germany
Tel: [phone] / 99 65 25
Fax: [phone] / 99 65 70
E-mail: [email protected]
Website: www.wachendorff-automation.de
Wiesbaden District Court HRA 8377, VAT ID No: DE 814567094
Managing Director: Robert Wachendorff
Warranty waiver, right of amendment, 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 and cooperation with customers, we reserve the right to amend
technical data or content at any time.
Wachendorff Automation asserts copyright over this manual. It may not be modified,
added to, reproduced or shared with third parties without prior written consent.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.
Comments:
Should you have any corrections, notes or requests for changes, please send them to
us. Send your comments to: [e-mail]

Technical Manual
WDGA with EtherCAT
Table of contents
© Wachendorff Automation GmbH & Co. KG
II
Rev.1.09
1Introduction .....................................................................................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
1.4Supplied package.......................................................................................... 4
2Safety information...........................................................................5
2.1 General.......................................................................................................... 5
2.2 Correct use.................................................................................................... 5
2.3 Safe working.................................................................................................. 6
2.4 Disposal......................................................................................................... 6
3Description 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
4EtherCAT........................................................................................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

Technical Manual
WDGA with EtherCAT
Table of contents
© Wachendorff Automation GmbH & Co. KG
III
Rev.1.09
4.3.2.4 1010h –Store parameters.............................................................. 20
4.3.2.5 1011h –Restore parameters.......................................................... 20
4.3.2.6 1018h - Identity object.................................................................... 21
4.3.2.7 10F3h –Diagnosis history.............................................................. 21
4.3.2.8 1A00h –1st TPDO mapping parameter ......................................... 21
4.3.2.9 1A01h –2nd TPDO mapping parameter........................................ 22
4.3.2.10 1C00h –Sync Manager communication type................................ 23
4.3.2.11 1C13h –Sync Manager 3 PDO assignment.................................. 23
4.3.2.12 1C33h –Sync Manager 3 synchronisation.................................... 24
4.3.3 Manufacturer-specific objects ............................................................... 25
4.3.3.1 2105h –Integration values............................................................. 26
4.3.3.2 2107h –Frequency limit................................................................. 26
4.3.3.3 2120h –Customer flash area......................................................... 26
4.3.3.4 2900h –IP address ........................................................................ 26
4.3.3.5 2901h –Subnet 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
4.3.4.4 6003h –Preset value...................................................................... 35
4.3.4.5 6004h –Position value................................................................... 35
4.3.4.6 6008h –High-precision position value............................................ 35
4.3.4.7 6009h –High-precision preset value.............................................. 35
4.3.4.8 600Ah –High-resolution total measuring range ............................. 35
4.3.4.9 600Bh –High-resolution position raw value ................................... 35
4.3.4.10 600Ch –Position raw value........................................................... 35
4.3.4.11 6030h –Speed value..................................................................... 35
4.3.4.12 6031h –Speed parameters........................................................... 36
4.3.4.13 6300h –CAM state register........................................................... 36
4.3.4.14 6301h –CAM enable register........................................................ 37
4.3.4.15 6302h –CAM polarity register ....................................................... 37
4.3.4.16 6310h … 6317h – CAM1…CAM8 low limit .................................... 38
4.3.4.17 6320h … 6327h – CAM1…CAM8 high limit................................... 38
4.3.4.18 6330h … 6337h – CAM1…CAM8 hysteresis................................. 38
4.3.4.19 6340h … 6347h – High-resolution CAM1…CAM8 low limit ........... 38

Technical Manual
WDGA with EtherCAT
Table of contents
© Wachendorff Automation GmbH & Co. KG
IV
Rev.1.09
4.3.4.20 6350h … 6357h – High-resolution CAM1…CAM8 high limit.......... 38
4.3.4.21 6360h … 6367h – High-resolution CAM1…CAM8 hysteresis........ 38
4.3.4.22 6400h –Work area state register................................................... 39
4.3.4.23 6401h - Work area low limit ........................................................... 39
4.3.4.24 6402h –Work area high limit......................................................... 39
4.3.4.25 6410h –High-resolution area state register................................... 39
4.3.4.26 6411h –High-resolution work area low limit .................................. 39
4.3.4.27 6412h –High-resolution work area high limit................................. 39
4.3.4.28 6500h –Operating status .............................................................. 39
4.3.4.29 6501h –Single-turn resolution....................................................... 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 6507h –Profile and software version............................................. 41
4.3.4.36 6508h –Operating time................................................................. 42
4.3.4.37 6509h –Offset value...................................................................... 42
4.3.4.38 650Ah –Module identification........................................................ 42
4.3.4.39 650Bh –Serial number.................................................................. 42
4.3.4.40 650Dh –Absolute accuracy........................................................... 42
4.3.4.41 650Eh –Device capability ............................................................. 42
4.3.4.42 650Fh –Offset value for high-resolution encoder.......................... 42
4.3.4.43 6510h –Number of high-precision revolutions .............................. 43
5Web server (CAUTION)..................................................................44
5.1 General........................................................................................................ 44
5.2 Information .................................................................................................. 45
5.2.1 Summary............................................................................................... 45
5.2.2 Diagnosis.............................................................................................. 46
5.2.3 Versions................................................................................................ 47
5.3 Configuration............................................................................................... 48
5.3.1 Network................................................................................................. 48
5.3.2 Encoder................................................................................................. 49
5.3.3 Firmware update................................................................................... 50
5.4 Licence information ..................................................................................... 53

Technical Manual
WDGA with EtherCAT
Table of contents
© Wachendorff Automation GmbH & Co. KG
V
Rev.1.09
5.5 Contact........................................................................................................ 53
6Commissioning with TwinCAT .....................................................54
7Technical advice............................................................................61

Technical Manual
WDGA with EtherCAT
Index of illustrations
© Wachendorff Automation GmbH & Co. KG
VI
Rev.1.09
Index of illustrations
Figure 3.1: WDGA with EtherCAT bus cover.............................................................. 7
Figure 5.1: Web server –Summary.......................................................................... 45
Figure 5.2: Diagnostics page.................................................................................... 46
Figure 5.3: Versions ................................................................................................. 47
Figure 5.4: Network settings..................................................................................... 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 - successful................................................................. 52
Figure 5.10: Firmware update - failed....................................................................... 52
Figure 5.11: Licence information .............................................................................. 53
Figure 5.12: Contact information .............................................................................. 53
Figure 6.1: TwinCAT –Scan..................................................................................... 54
Figure 6.2: TwinCAT - Scan / Message.................................................................... 55
Figure 6.3: TwinCAT - IO devices............................................................................. 55
Figure 6.4: TwinCAT –Scan for boxes..................................................................... 56
Figure 6.5: TwinCAT - Scan complete...................................................................... 56

Technical Manual
WDGA with EtherCAT
Index of tables
© Wachendorff Automation GmbH & Co. KG
VII
Rev.1.09
Index of tables
Table 3.1: Pin assignment........................................................................................ 11
Table 3.2: LED signals.............................................................................................. 13
Table 4.1: Summary of the encoder's functions........................................................ 15
Table 4.2: Communication protocols........................................................................ 15
Table 4.3: Object directory 1000h - 1018h................................................................ 16
Table 4.4: Object directory 10F3h - 1A00h............................................................... 17
Table 4.5: Object directory 1A01h - 1C00h............................................................... 18
Table 4.6: Object directory 1C13h - 1C33h .............................................................. 19
Table 4.6: 1001h –Error register.............................................................................. 19
Table 4.7: 1001h –Parameter storage options......................................................... 20
Table 4.8: 1011h –Parameters loading options....................................................... 20
Table 4.9: 1018h –Identity object............................................................................. 21
Table 4.10: 1010h –Identity object........................................................................... 21
Table 4.11: 1st transmit PDO default mapping (EtherCAT object 1A00h)................ 21
Table 4.12: Setup of sub-index 01 ... 08 of object 1A00h......................................... 22
Table 4.13: 2nd transmit PDO default mapping (EtherCAT object 1A01h)............... 22
Tabelle 4.14: Sync Manager communication type (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 2105h - 2902h........................................ 25
Table 4.17: Integration values (EtherCAT object 2105h).......................................... 26
Table 4.18: Frequency limit (EtherCAT object 2107h).............................................. 26
Table 4.19: Device-specific objects 6000h - 6031h.................................................. 27
Table 4.20: Device-specific objects 6009h - 6310h.................................................. 28
Table 4.21: Device-specific objects 6311h - 6321h.................................................. 29
Table 4.22: Device-specific objects 6322h - 6332h.................................................. 30
Table 4.23: Device-specific objects 6337h - 6402h.................................................. 31
Table 4.24: Device-specific objects 6410h - 6508h.................................................. 32
Table 4.25: Device-specific objects 6509h - 6510h.................................................. 33
Table 4.26: Direction of revolution and scaling parameters...................................... 34
Table 4.27: Speed selector....................................................................................... 36
Table 4.28: CAM state register - value 89h .............................................................. 36
Table 4.29: CAM state register - value 81h .............................................................. 37
Table 4.30: CAM enable register - value 4Ah........................................................... 37
Table 4.31: Example of the CAM polarity register .................................................... 37
Table 4.32: 6503h - Alarms ...................................................................................... 40
Table 4.33: Signal description .................................................................................. 41
Table 4.34: Example of profile software version....................................................... 41

Technical Manual
WDGA with EtherCAT
1 - Introduction
© Wachendorff Automation GmbH & Co. KG
1
Rev.1.09
1 Introduction
1.1 About this manual
This technical manual describes the configuration and assembly options for absolute
encoders from Wachendorff Automation with an EtherCAT interface. It represents an
addition to the other published Wachendorff Automation documents, such as the
datasheets, assembly instructions, supplements, catalogues and flyers.
Read the manual before using theequipment. Check first that the version of the manual
you 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 with technical knowledge and experience of using
sensors, EtherCAT interfaces and automation elements. If you do not have any
experience of this equipment, please seek assistance from people who do.
Store the information supplied with our product carefully so that you can refer to itagain
at a later date if necessary.
The contents of this manual are arranged with practical use in
mind.
All of the information in the following sections is required to get
the best possible use out of the equipment, and should be read
through thoroughly.

Technical Manual
WDGA with EtherCAT
1 - Introduction
© Wachendorff Automation GmbH & Co. KG
2
Rev.1.09
1.1.1 Explanation of symbols
The INFO symbol is placed next to a section of text that is
particularly informative or important for what to do next with the
equipment.
The IMPORTANT symbol is placed next to a section 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
correct use of the equipment and to protect against danger.
1.1.2 What you will not find in this manual
•Principles of automation technology
•System planning
•Risks (availability, safety)
•Shielding concepts
•Reflections
•Repeaters
•Network configuration
•Bus cycle time
•FMA management services
•Transfer services
•Telegram types