Материал: m083700e
86• Fieldbus Controller 750-837, /02x-000, 750-838, /02x-000 Data Exchange
Examples of how to define PFC fieldbus variables
The following examples show some definitions for PFC variables with different data types, compared to the specific object directory entries.
Data type |
PFC input variables |
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PFC output variables |
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of PFC |
Definition according to IEC |
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variables |
/Sub- |
Definition according to IEC 61131-3 |
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61131-3 |
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Index |
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Unsigned8 |
InByte0 AT%IB512 : BYTE; |
0xA4C0/1 |
OutByte0 AT%QB512 : BYTE; |
0xA040/1 |
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InByte0 AT%IB513 : BYTE; |
0xA4C0/2 |
OutByte0 AT%QB513 : BYTE; |
0xA040/2 |
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Integer16 |
InInt0 AT %IW256 : INT; |
0xA540/1 |
InInt0 AT %QW256 : INT; |
0xA0C0/1 |
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InInt1 AT %IW257 : INT; |
0xA540/2 |
InInt1 AT %QW257 : INT; |
0xA0C0/2 |
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Unsigned16 |
InWord0 AT %IW256 : WORD; |
0xA580/1 |
OutWord0 AT %QW256 : WORD; |
0xA100/1 |
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InWord0 AT %IW257 : WORD; |
0xA580/2 |
OutWord0 AT %QW257 : WORD; |
0xA100/2 |
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Unsigned32 |
InDWord0 AT %ID128 : DWORD; |
0xA680/1 |
OutDWord0 AT %QD128 : DWORD; |
0xA200/1 |
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InDWord0 AT %ID129 : DWORD; |
0xA680/2 |
OutDWord0 AT %QD129 : DWORD; |
0xA200/2 |
Table 3-5: Examples for variable definitions with the specific object directory entries
3.1.5.4.1.4Maximum indexes
The maximum indexes and sub-indexes result from the memory size of the fieldbus controller of 512 bytes and the individual data width of the data types.
The table shows a review of the maximum indexes and sub-indexes of the IEC 61131-3 variable.
Data type |
IEC 61131-3 input variables |
IEC 61131-3 output variables |
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max. Index |
max. Sub-Index |
Max. Index |
max. Sub-Index |
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Integer8 |
0xA002 |
2 |
0xA482 |
2 |
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Unsigned8 |
0xA042 |
2 |
0xA4C2 |
2 |
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Boolean |
0xA082 |
2 |
0xA502 |
2 |
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Integer16 |
0xA0C1 |
1 |
0xA541 |
1 |
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Unsigned16 |
0xA101 |
1 |
0xA581 |
1 |
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Integer24 |
0xA140 |
AA |
0xA5C0 |
AA |
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Unsigned24 |
0xA180 |
AA |
0xA600 |
AA |
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Integer32 |
0xA1C0 |
80 |
0xA640 |
80 |
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Unsigned32 |
0xA200 |
80 |
0xA680 |
80 |
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Float32 |
0xA240 |
80 |
0xA6C0 |
80 |
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Unsigned40 |
0xA280 |
66 |
0xA700 |
66 |
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Integer40 |
0xA2C0 |
66 |
0xA740 |
66 |
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Unsigned48 |
0xA300 |
55 |
0xA780 |
55 |
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Integer48 |
0xA340 |
55 |
0xA7C0 |
55 |
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Unsigned56 |
0xA380 |
49 |
0xA800 |
49 |
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Integer56 |
0xA3C0 |
49 |
0xA840 |
49 |
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Integer64 |
0xA400 |
40 |
0xA880 |
40 |
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Unsigned64 |
0xA440 |
40 |
0xA8C0 |
40 |
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Table 3-6: Maximum indexes and sub-indexes for the definition of IEC 61131-3 variables
WAGO-I/O-SYSTEM 750
CANopen
Fieldbus Controller 750-837, /02x-000, 750-838, /02x-000 |
• 87 |
Data Exchange |
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Example:
512 byte output variables are addressed word-wise with the Unsigned16 data type.
Addressing the 256 data words is in this case done with:
-index 0xA580, sub-index 1 to 255 and
-index 0xA581, sub-index 1.
Index: |
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Sub- |
Contents: |
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Description: |
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Index: |
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0 |
255 |
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number of output variable blocks |
0xA580 |
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1 |
D1 *) |
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1. output variable block |
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... |
... |
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... |
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255 |
D255 *) |
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255. output variable block |
0xA581 |
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0 |
1 |
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number of output variable blocks |
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1 |
D256 *) |
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256. output variable block |
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*) D1 = |
Data |
word output variable 1, D255 = |
Data word output variable 255, etc. |
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3.1.5.4.2 Absolute Addresses
The CPU has direct access to the bus terminal data through absolute addresses. Addressing begins with the address 0 both with inputs and outputs. The corresponding addresses for bits, bytes and double words (DWord) are derived from the word addresses.
The structure of the process image is described in chapter 3.1.4 "Process Image". Addressing is done in this structure.
Input data |
%IW0 |
word-orientated data |
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%IWn |
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%In+1 |
bit-orientated data |
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%In+m |
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Output data |
%QW0 |
word-orientated data |
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%QWn |
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%Qn+1 |
bit-orientated data |
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%Qn+m |
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3.1.5.4.3 Calculate Addresses
The word address is the basis for calculation (word).
Bit Address |
Word address .0 to .15 |
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Byte Address |
1st byte: |
2 x Word address |
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2nd byte: |
2 x Word address + 1 |
DWord Address |
lower section: Word address (even numbers) / 2 |
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upper section: Word address (odd numbers) / 2, rounded off |
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WAGO-I/O-SYSTEM 750
CANopen
88• Fieldbus Controller 750-837, /02x-000, 750-838, /02x-000 Data Exchange
3.1.5.4.3.1Address Range for I/O Module Data
Data width |
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Address range I/O module data |
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Bit |
0.0 |
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0.8 |
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1.0 |
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1.8 |
... |
254.0 |
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254.8 |
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255.0 |
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255.8 |
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... |
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... |
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... |
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... |
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... |
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... |
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0.7 |
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0.15 |
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1.7 |
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1.15 |
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254.7 |
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254.15 |
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255.7 |
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255.15 |
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Byte |
0 |
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1 |
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2 |
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3 |
... |
508 |
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509 |
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510 |
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511 |
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Word |
0 |
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1 |
... |
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254 |
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255 |
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DWord |
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0 |
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... |
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127 |
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3.1.5.4.3.2Address Range for Fieldbus Variables
Data width |
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Address range fieldbus variables |
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Bit |
256.0 |
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256.8 |
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257.0 |
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257.8 |
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510.0 |
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510.8 |
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511.0 |
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511.8 |
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... |
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256.7 |
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256.15 |
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257.7 |
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257.15 |
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510.7 |
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510.15 |
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511.7 |
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511.15 |
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Byte |
512 |
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513 |
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514 |
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515 |
... |
1020 |
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1021 |
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1022 |
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1023 |
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Word |
256 |
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257 |
... |
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510 |
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511 |
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DWord |
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128 |
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... |
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255 |
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3.1.5.4.3.2.1Address Range for Flags
Data width |
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Address range flags |
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Bit |
0.0 |
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0.8 |
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1.0 |
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1.8 |
... |
4094.0 |
4094.8 |
4095.0 |
4095.8 |
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0.7 |
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0.15 |
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1.7 |
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1.15 |
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4094.7 |
4094.15 |
4095.7 |
4095.15 |
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Byte |
0 |
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1 |
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2 |
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3 |
... |
8188 |
8189 |
8190 |
8191 |
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Word |
0 |
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1 |
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... |
4094 |
4095 |
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DWord |
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0 |
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... |
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2047 |
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All flags are non volatile (retain).
3.1.5.4.4 Example for Absolute Addresses
Data size |
Inputs: |
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Bit |
%IX14.0 ... 15 |
%IX15.0 ... 15 |
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Byte |
%IB28 |
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%IB29 |
%IB30 |
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%IB31 |
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Word |
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%IW14 |
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%IW15 |
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DWord |
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%ID7 |
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Data size |
Outputs: |
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Bit |
%QX5.0 ... 15 |
%QX6.0 ... 15 |
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Byte |
%QB10 |
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%QB11 |
%QB12 |
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%QB13 |
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Word |
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%QW5 |
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%QW6 |
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DWord |
%QD2 (upper part) |
%QD3 (lower part) |
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WAGO-I/O-SYSTEM 750
CANopen
Fieldbus Controller 750-837, /02x-000, 750-838, /02x-000 |
• 89 |
Data Exchange |
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Data size |
Flags: |
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Bit |
%MX11.0 ... 15 |
%MX12.0 ... 15 |
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Byte |
%MB22 |
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%MB23 |
%MB24 |
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%MB25 |
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Word |
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%MW11 |
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%MW12 |
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DWord |
%MD5 (upper part) |
%MD6 (lower part) |
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The character 'X' for single bits can be deleted, e.g.%I14.0, %Q6.10, %M11.7
WAGO-I/O-SYSTEM 750
CANopen
90• Fieldbus Controller 750-837, /02x-000, 750-838, /02x-000 Programming the PFC with WAGO-I/O-PRO CAA
3.1.6 Programming the PFC with WAGO-I/O-PRO CAA
Due to the IEC 61131 programming of the CANopen fieldbus controller you have the option to use the functionality of a PLC beyond the functions of fieldbus coupler.
An application program according to IEC 61131-3 is created using the programming tool WAGO-I/O-PRO CAA.
This manual, however, does not include a description of how to program with WAGO-I/O-PRO CAA. In contrast, the following chapters are to describe the special modules for WAGO-I/O-PRO CAA for you to utilize explicitly for programming the CANopen fieldbus controller.
The description also explains transmitting the IEC 61131-3 program into the controller and loading a suitable communication driver.
More Information
For a detailed description of how to use the software, please refer to the
WAGO-I/O-PRO CAA manual (download: www.wago.com).
3.1.6.1 WAGO-I/O-PRO CAA Library Elements for CANopen
You are offered various libraries for different IEC 61131-3 programming applications in WAGO-I/O-PRO CAA. They contain modules for universal use and can, thereby, facilitate and speed up the creation of your program. As standard, the library 'standard.lib' is available to you.
The library described in the following is specifically intended for CANopen projects with WAGO-I/O-PRO CAA:
• "CIA405. LIB"
(contains function blocks for CANopen and CANopen acc. to CiA 405),
This library is loaded on the WAGO-I/O-PRO CD.
Having integrated this library, you have access to its POUs, data types and global variables which can be used in the same manner as those defined by yourself.
More Information
For a detailed description of the POUs and the software operation, please refer to the WAGO-I/O-PRO CAA manual (download: www.wago.com).
WAGO-I/O-SYSTEM 750
CANopen