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146 • CANopen

Network Communication

1. TxPDO:

contains maximum the first 8x8 digital inputs. If no digital inputs exist, the sub index 0 has the default value 0, and this PDO is not used with its default value.

Idx	S-Idx	Description	Default Value
0x1A00	0	Number of mapped objects	None, possible values:
			0: no digital input block
			1..8: 1..8 digital input
			blocks

	1	1. mapped digital input block	0x6000 01 08

	2	2. mapped digital input block	0x6000 02 08

	:	:	:

	8	8. mapped digital input block	0x6000 08 08

2. TxPDO:

contains maximum the 1st to 4th 16 bit analog input. If no 16 bit analog inputs exist, the sub index 0 has the default value 0, and this PDO is not used with its default value.

Idx	S-Idx	Description	Default Value
0x1A01	0	Number of mapped objects	None, possible values:
			0: no analog input
			1..4: 1..4 analog inputs

	1	1. mapped 16 bit analog input	0x6401 01 10

	2	2. mapped 16 bit analog input	0x6401 02 10

	3	3. mapped 16 bit analog input	0x6401 03 10

	4	4. mapped 16 bit analog input	0x6401 04 10

3. TxPDO:

contains maximum the 5th to 8th 16 bit analog input. If not more than 4 16 bit analog inputs exist, the sub index 0 has the default value 0, and this PDO is not used with its default value.

Idx	S-Idx	Description	Default Value
0x1A02	0	Number of mapped objects	None, possible values:
			0: no analog input
			1..4: 1..4 analog inputs

	1	5. mapped 16 bit analog input	0x6401 05 10

	2	6. mapped 16 bit analog input	0x6401 06 10

	3	7. mapped 16 bit analog input	0x6401 07 10

	4	8. mapped 16 bit analog input	0x6401 08 10

WAGO-I/O-SYSTEM 750

CANopen

CANopen • 147

Network Communication

4. TxPDO:

contains maximum the 9th to 12th 16 bit analog input. If not more than 8 16 bit analog inputs exist, the sub index 0 has the default value 0, and this PDO is not used with its default value.

Idx	S-Idx	Description	Default Value
0x1A03	0	Number of mapped objects	None, possible values:
			0: no analog input
			1..4: 1..4 analog inputs

	1	9. mapped 16 bit analog input	0x6401	09 10

	2	10. mapped 16 bit analog input	0x6401	0A 10

	3	11. mapped 16 bit analog input	0x6401	0B 10

	4	12. mapped 16 bit analog input	0x6401	0C 10

Initialization Manufacturer Specific Profile Area

This area is initialized as described in the object directory.

Initialization Standardized Device Profile Area

All supported objects are initialized, as defined in the DS 401 standard.

WAGO-I/O-SYSTEM 750

CANopen

148 • CANopen

Network Communication

5.3.4.2 Communication Profile Area

The following table lists all of the bus coupler supported objects of the communication profile.

Idx	Name	Type	Meaning	See on
				page
0x1000	Device Type	Unsigned32	Device Profile	149
0x1001	Error Register	Unsigned8	Errors are bit coded (DS401)	149
0x1003	Pre-defined Error Field	Array Unsigned32	Storage of the last 20 errors occurred	150
0x1005	COB-ID SYNC message	Unsigned32	COB-ID of the SYNC object	150
0x1006	Communication Cycle	Unsigned32	Max. time between 2 SYNC messages	150
	Period
0x1008	Manufacturer Device	Visible String	Device name	150
	Name
0x1009	Manufacturer Hardware	Visible String	Hardware version	151
	Version
0x100A	Manufacturer Software	Visible String	Software version	151
	Version
0x100C	Guard Time	Unsigned16	Time for “Life Guarding Protocol“	151
0x100D	Life Time Factor	Unsigned8	Life Time Factor	151
0x1010	Store Parameters	Array Unsigned32	Parameter to store the configuration	151
0x1011	Restore default Parameter	Array Unsigned32	Parameter to restore the default con-	152
			figuration
0x1014	COB-ID Emergency	Unsigned32	COB-ID for the emergency Object	153
	Object
0x1015	Inhibit Time EMCY	Unsigned32	Min. time between 2 EMCY messages	153
0x1016	Consumer Heartbeat	Array Unsigned32	Heartbeat monitoring time	154
	Time
0x1017	Producer Heartbeat Time	Unsigned16	Time between 2 generated Heartbeat	154
			messages
0x1018	Identity Object	Record Identity	Device information	154
0x1200 to	Server SDO Parameter	Record	Parameter for the Server SDO	155
0x1201		SDO Parameter
0x1280 to	Client SDO Parameter	Record	Parameter for the Client SDO	155
0x128F		SDO Parameter
0x1400 to	Receive PDO Communi-	Record	Communication parameter for the	155
0x141F	cation Parameter	PDO Parameter	Receive PDO
0x1600 to	Receive PDO Mapping	Record	Mapping parameter for the Receive	157
0x161F	Parameter	PDO Mapping	PDO
0x1800 to	Transmit PDO Commu-	Record	Communication parameter for the	157
0x181F	nication Parameter	PDO Parameter	Transmit PDO
0x1A00 to	Transmit PDO Mapping	Record	Mapping parameter for the Trans-	158
0x1A1F	Parameter	PDO Mapping	mit PDO

WAGO-I/O-SYSTEM 750

CANopen

CANopen • 149

Network Communication

5.3.4.2.1 Object 0x1000, Device Type

Idx

S-Idx

Name

Type

Default Value

0x1000

Device Type

Unsigned32

The object indicates the implemented device profile. The CANopen bus coupler has implemented the „Device Profile for Generic I/O Modules" (device profile No. 401). Moreover, in the index 0x1000 the value informs about the type of modules connected.

Design:

MSB			LSB

0000.0000	0000.4321	Device Profile	Device Profile
		Number	Number
		0x01 (High Byte)	0x91 (Low Byte)

With Bit 1	= 1, if at least one digital input is connected.
2	= 1, if at least one digital output is connected.
3	= 1, if at least one analog input is connected.
4	= 1, if at least one analog output is connected.

5.3.4.2.2 Object 0x1001, Error Register

	Idx	S-Idx		Name		Type				Default Value
	0x1001	0		Error Register		Unsigned8	RO			-

This register contains internal errors. This register is also part of the emergency message.

Design:

Bit	Meaning

0General Error

1Current

2Voltage

3Temperature

4Communication

5Device profile specific

6Reserved

7Manufacturer specific

In the event of an error, bit 0 is always set. Additional bits used specify the error in more detail.

WAGO-I/O-SYSTEM 750

CANopen

150 • CANopen

Network Communication

5.3.4.2.3 Object 0x1003, Pre-defined Error Field

Idx

S-Idx

Name

Type

Attribute

Default Value

0x1003

Number of Errors

Unsigned8

Standard Error Field

Unsigned32

Standard Error Field

Unsigned32

The sub-index 0 contains the errors currently stored in the field. If a new error occurs, it will be entered in sub-index 1, and all errors already existing moved down by one sub-index. A max. of 20 error entries are supported. Should more than 20 errors occur, each time the error contained in sub-index 20 is written over.

Design Standard Error Field:

Bit31	Bit16	Bit15	Bit0

Additional Information		Error code

The additional information corresponds to the first 2 bytes of the additional code of the Emergency telegram. The error code coincides with the error code in the Emergency telegram.

The complete error memory is deleted by writing a „0" in sub-index 0.

5.3.4.2.4 Object 0x1005, COB-ID SYNC message

Idx	S-Idx	Name	Type	Attribute	Default Value
0x1005	0	COB-ID SYNC	Unsigned32	RW	0x00000080

The object defines the COB ID for the synchronization message.

Design:

Bit31	Bit11	Bit10	Bit0

Reserved (always 0)		COB-ID

5.3.4.2.5 Object 0x1006, Communication Cycle Period

Idx		S-Idx	Name	Type	Attribute	Default Value
0x1006	0		Communication	Unsigned32	RW	0
			Cycle Period

The object defines the max. time in µs for two subsequent SYNC messages. The internal resolution is 2ms. If the value is 0, no SYNC monitoring is performed.

5.3.4.2.6 Object 0x1008, Manufacturer Device Name

Idx	S-Idx	Name	Type	Attribute	Default Value
0x1008	0	Manufacturer Device	Visible	RO	750-837 (750-838)
		Name	String

The object indicates the device name of the bus coupler.

WAGO-I/O-SYSTEM 750

CANopen

Источник: https://studfile.net/preview/16369781/

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