Документ: m083700e, страницы 166-170 | База студенческих работ

166 • CANopen

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Example:

A coupler of the following configuration is projected:

Kl.1 Kl.2 Kl.3 Kl.4 Kl.5 Kl.6 Kl.7 Kl.8 Kl.9

Configuration for the full version:

Sub-		Value		Meaning
Sub-		Value		Meaning
Index
0	0x09		Total number of connected (9) and virtual (0) modules

1	0x8063		digital, input, 4 channels, 1bit per channel, connected (mod. 1)

2	0x8063		digital, input, 4 channels, 1bit per channel, connected (mod. 2)

3	0x 8094		analog, output, 2 channels, 2byte per channel, connected (mod. 3)

4	0x 8094		analog, output, 2 channels, 2byte per channel, connected (mod. 4)

5	0x 8094		analog, output, 2 channels, 2byte per channel, connected (mod. 5)

6	0x 8055		digital, output, 2 channels, 1bit per channel, connected (mod. 6)

7	0x 8055		digital, output, 2 channels, 1bit per channel, connected (mod. 7)

8	0x 8055		digital, output, 2 channels, 1bit per channel, connected (mod. 8)

9	0x 8055		digital, output, 2 channels, 1bit per channel, connected (mod. 9)

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As a second step, a coupler is protected which is a sub-quantity of the first one. The only modules used are module 2 and 8.

Kl.2 Kl.8

Configuration for the version mod. 2 and mod. 8 connected:

S-Idx.	Value	Meaning
0	0x09	Total number of connected (2) and virtual (7) modules

1	0x0063	digital, input, 4 channels, 1bit per channel, not conn.(mod. 1)

2	0x8063	digital, input, 4 channels, 1bit per channel, connected (mod. 2)

3	0x 0094	analog, output, 2 channels, 2byte per channel, not conn.(mod. 3)

4	0x 0094	analog, output, 2 channels, 2byte per channel, not conn.(mod. 4)

5	0x 0094	analog, output, 2 channels, 2byte per channel, not conn.(mod. 5)

6	0x 0055	digital, output, 2 channels, 1bit per channel, not conn.(mod. 6)

7	0x 0055	digital, output, 2 channels, 1bit per channel, not conn.(mod. 7)

8	0x 8055	digital, output, 2 channels, 1bit per channel, connected (mod. 8)

9	0x 0055	digital, output, 2 channels, 1bit per channel, not conn.(mod. 9)

With regard to their entries in the object directory (connected modules), the behavior of both couplers is identical. Consequently, their behavior is also identical during PDO mapping.

Bit 4 must be set in index 0x6200, sub-index 1, for instance, to be able to set the 1st channel of the output module 8 (750-513).

This process is identical for both configurations.

If there was not an empty module configuration, in contrast to the above, bit 0 would have to be set for the 2nd configuration, index 0x6200, sub-index 1, in order to set the same output channel.

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5.3.4.3.22Object 0x5000, Read Input Process Image

Idx

S-Idx

Name

Type

Attribute

Default Value

Meaning

0x5000

0

number of input byte

Unsigned16

RO

-

Number of relevant bytes in input PA

1

input segment 1

Octed_String

RO

-

1. Input PA segment (the bottom 255

bytes of 512 bytes PA)

2

input segment 2

Octed_String

RO

-

2. Input PA segment (the top 255 bytes of

512 bytes PA. Is only available, if > 255

bytes input data)

Permits reading of the entire input process image as a domain via SDO, allowing access to all input data „as a block“.

Note

The access via SDO being slow, we recommend transmitting time critical data only via PDO.

5.3.4.3.23Object 0x5001, Write Output Process Image

Idx	S-Idx	Name	Type	Attribute	Default Value	Meaning
0x5001	0	number of output byte	Unsigned16	RO	none	Number of relevant bytes in output PI
	1	input segment 1	Octed_String	RW	none	1. Output PA segment (the bottom 255
						bytes of 512 bytes PA)
	2	input segment 2	Octed_String	RW	none	2. Output PA segment (the top 255 bytes
						of 512 bytes PA. Is only available, if >
						255 bytes output data are possible accord-
						ing to the module configuration)

Permits writing of the entire output process image as a domain via SDO „as a block“.

Note

The access via SDO being slow, we recommend transmitting time critical data only via PDO.

5.3.4.3.24Object 0x5200, Controller Configuration Object

Idx	S-Idx	Name	Type	Attribute	Default Value	Meaning
0x5200	0	max. supported Subin-	Unsigned8	RO	-	Maximally supported Subindex
		dex
	1	PDO processing	Unsigned8	RW	0	specifies the processing of the received
						PDOs.
						0: Logical data output, that means as
						soon as a PDO arrived doubly, an
						internal bus cycle starts.
						1: Data of the last PDO win.
	2	Deactivate blink display	Unsigned8	RW	0	activates/deactives the display of the
		Warning Level				Warning Level
						0: The display of Warning Level is
						activated
						1: The display of Warning Level is
						deactivated
	3	Deactivate global	Unsigned8	RW	0	activates/deactivates the transmission of
		module diagnostics via				global module diagnostics via Emergency
		Emergency messages				messages
						0: dispatch diagnostic messages
						1: do not dispatch diagostic messages

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5.3.4.3.25Object 0x5201, Diagnostics Configuration Object

Idx	S-Idx	Name	Type	Attribute	Default Value	Meaning
0x5200	0	max. supported Sub	Unsigned8	RO	-	Maximally supported Subindex = Num-
		index = Number of				ber of modules
		modules
	1	Diagnostics behavior of	Unsigned8	RW	0	Each bit within the byte represents a
		the 1st put module				channel of the module (bit 0 channel 0,
						bit 1 channel 1..., bit 7 channel 7)
						Bit n = 1: no diagnostics messages are
						transmitted via Emergency
						(n=0...7)
						If all bits are set to 1 (255)
						the transmission of the diagnostics mes-
						sages via Emergency is deactivated for
						this module, independently of the channel
						number of the module.
	….					....
	64	Diagnostics behavior of	Unsigned8	RW	0	Each bit within the byte represents a
		the 64th put module				channel of the module (bit 0 channel 0,
						bit 1 channel 1..., bit 7 channel 7)
						Bit n = 1: no diagnostics messages are
						transmitted via Emergency
						(n=0...7)
						If all bits are set to 1 (255)
						the transmission of the diagnostics mes-
						sages via Emergency is deactivated for
						this module, independently of the channel
						number of the module.

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5.3.4.4 Standard Device Profile Area – DS 401

The controller supports the standard device profile Device Profile for Generic I/O Modules.

The following table shows all objects of the standard profile DS401 supported by the fieldbus controller.

Idx	Name	Type	Meaning	See on
				page
0x6000	Read Input 8 Bit	Array Unsigned8	Data of digital input I/O modules	171
0x6005	Global Interrupt Enable Digital 8-	Unsigned8	Global release of the transmission of 8	171
	Bit		bit digital input data
0x6006	Interrupt Mask Any Change 8-Bit	Array Unsigned8	Release of the transmission with each	171
			change of 8 bit digital input data
0x6007	Interrupt Mask Low-to-High 8-	Array Unsigned8	Release of the transmission if a posi-	171
	Bit		tive flank of 8 bit digital input data
			occurs
0x6008	Interrupt Mask High-to-Low 8-	Array Unsigned8	Release of the transmission of a	172
	Bit		negative flank of 8 bit digital input
			data
0x6200	Write Output 8-Bit	Array Unsigned8	Data of digital output I/O modules	172
0x6206	Error Mode Output 8-Bit	Array Unsigned8	Release of pre-defined error values of	172
			the 8 bit digital output data
0x6207	Error Value Output 8-Bit	Array Unsigned8	Pre-defined error values of the 8 bit	173
			digital output data
0x6401	Read Analog Input 16-Bit	Array Unsigned16	Data of analog input I/O modules	173
			(16 bit)
0x6411	Write Analog Output 16-Bit	Array Unsigned16	Data of analog output I/O modules	173
			(16 bit)
0x6421	Analog Input Trigger Selection	Array Unsigned8	Determination of trigger condition for	174
			16 bit analog input data
0x6423	Analog Input Global Interrupt	Boolean	Global release of the transmission of	175
	Enable		16 bit analog input data
0x6424	Analog Input Interrupt Upper	Array Unsigned16	Transmission of 16 bit input data if	175
	Limit Integer		threshold value exceeded
0x6425	Analog Input Interrupt Lower	Array Unsigned16	Transmission of 16 bit input data if	175
	Limit Integer		threshold value exceeded
0x6426	Analog Input Interrupt Delta	Array Unsigned16	Transmission if the 16 bit input data	175
	Unsigned		have changed at least by the delta
			value
0x6427	Analog Input Interrupt Negative	Array Unsigned16	Transmission if the 16 bit input data	176
	Delta Unsigned		have reduced at least by the delta
			value
0x6428	Analog Input Interrupt Positive	Array Unsigned16	Transmission if the 16 bit input data	175
	Delta Unsigned		have increased at least by the delta
			value
0x6443	Analog Output Error Mode	Array Unsigned8	Release of pre-defined error values of	176
			the 16 bit output data
0x6444	Analog Output Error Value	Array Unsigned16	Value in the event of an error of the	177
	Integer		16 bit output data
0x67FE	Error Behavior	Array Unsigned8	Status change in the event of an error	177

WAGO-I/O-SYSTEM 750

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Материал: m083700e

5.3.4.3.22Object 0x5000, Read Input Process Image

5.3.4.3.23Object 0x5001, Write Output Process Image

5.3.4.3.24Object 0x5200, Controller Configuration Object

5.3.4.3.25Object 0x5201, Diagnostics Configuration Object

5.3.4.4 Standard Device Profile Area – DS 401

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