Документ: m083700e, страницы 176-180 | База студенческих работ

176 • CANopen

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5.3.4.4.16Object 0x6427, Analog Input Interrupt Negative Delta Unsigned

Idx	S-Idx	Name	Type	Attribute	Default Value
0x6427	0	Number analog input channels	Unsigned8	RO	-
		(16Bit)
	1	Delta value 1. channel	Unsigned16	RW	0
	....	....	....	....	....
	128	Delta value 128. channel	Unsigned16	RW	0

By definition of this object, the new value to be transmitted, must be smaller than the previously sent value, at least by the delta value.

Previous value

Delta

Transmission

g012438e

5.3.4.4.17Object 0x6428, Analog Input Interrupt Positive Delta Unsigned

Idx	S-Idx	Name	Type	Attribute	Default Value
0x6428	0	Number analog input channels	Unsigned8	RO	-
		(16Bit)
	1	Delta value 1. channel	Unsigned16	RW	0
	....	....	....	....	....
	128	Delta value 128. channel	Unsigned16	RW	0

By definition of this object, the new value to be transmitted, must be larger than the previously sent value, at least by the delta value.

Transmission

Delta

Previous value

g012439e

5.3.4.4.18Object 0x6443, Analog Output Error Mode

Idx

S-Idx

Name

Type

Attribute

Default Value

0x6443

0

Number analog output channels

Unsigned8

RO

-

(16Bit)

1

Error Mode 1. channel

Unsigned8

RW

1

....

128

Error Mode 128. channel

Unsigned8

RW

1

This object is used to define whether the outputs change to a pre-defined error status (see object 0x6444) in the event of an error (i.e. bus coupler changes to the Stopped status, Nodeguarding has failed,...). Once the error is remedied, the outputs retain their momentary status, i, e. the set error status of the output channels remains unchanged.

All analog outputs that are not covered by the object 0x6444 (i.e. analog 6 byte modules) are always set to 0 in the event of an error.

0 = The output remains unchanged

1 = The output changes to a pre-defined error status

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5.3.4.4.19Object 0x6444, Analog Output Error Value Integer

Idx

S-Idx

Name

Type

Attribute

Default Value

0x6444

0

Number analog output channels

Unsigned8

RO

-

(16Bit)

1

Error value 1. channel

Unsigned16

RW

0

....

128

Error value 128. channel

Unsigned16

RW

0

This object is used to define values that they are to assume in the event of an error. Prerequisite being that the corresponding bit is set in object 0x6443.

5.3.4.4.20Object 0x67FE, Error Behavior

Idx	S-Idx	Name	Type	Attribute	Default Value
0x67FE	0	Max. supported Sub-Index	Unsigned8	RO	1
	1	Communication error	Unsigned8	RW	0

This object is used to define the status to which the module changes in the event of a communication error (i.e.Node-Guarding failure).

Design Communication Error Entry:

Communication error	Action
0	Change to the Pre-Operational status (only when the cur-
	rent status was Operational)

1	No status change

2	Change to the Stopped status

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5.3.4.5 Reserved Area

The data of the IEC 61131-3 variables are entered in the reserved object directory area Index 0xA000-0xFFFF for the programmable fieldbus controller 750-837 and 750-838.

All in all, the indexes 0xA000 to 0xA8FF are used for the assignment with the IEC 61131-3 variable’s data.

Note

The IEC 61131-3 input variables are defined from the point of view of the CAN bus, whereas they are deemed as output variables from the point of view of the PFCs. Accordingly, the IEC 61131-3 output variables are input variables for the PFC.

The following table contains all objects supported by the fieldbus controller 750-837 and 750-838 for the IEC 61131-3 variables.

Idx	Name	Type	Meaning		See on
					page
0xA000	Integer8 input variables	Array Integer 8	Data of the 8 bit Integer input variables	178
0xA040	Unsigned8 input variables	Array Unsigned	Data of the 8 bit Unsigned input variables	179
		8
0xA080	Boolean input variables	Boolean	Data of the Boolean input variables	179
0xA0C0	Integer16 input variables	Array Integer 16	Data of the 16 Bit Integer input variables	179
0xA100	Unsigned16 input vari-	Array Un-	Data of the 16 Bit Unsigned input variables	179
	ables	signed16			(all
0xA140	Integer24 input variables	Array Integer 24	Data of the 24 Bit Integer input variables		others)
0xA180	Unsigned24 input vari-	Array Unsigned	Data of the 24 Bit Unsigned input variables
	ables	24
0xA1C0	Integer32 input variables	Array Integer 32	Data of the 32 Bit Integer input variables
0xA200	Unsigned32 input vari-	Array Unsigned	Data of the 32 Bit Unsigned input variables
	ables	32
0xA240	Float32 input variables	Array Floating	Data of the 32 Bit Floating point input vari-
		Point 32	ables
0xA280	Unsigned40 input vari-	Array Unsigned	Data of the 40 Bit Unsigned input variables
	ables	40
0xA2C0	Integer40 input variables	Array Integer 40	Data of the 40 Bit Integer input variables
0xA300	Unsigned48 input vari-	Array Unsigned	Data of the 48 Bit Unsigned input variables
	ables	48
0xA340	Integer48 input variables	Array Integer 48	Data of the 48 Bit Integer input variables
0xA380	Unsigned56 input vari-	Array Unsigned	Data of the 56 Bit Unsigned input variables
	ables	56
0xA3C0	Integer56 input variables	Array Integer 56	Data of the 56 Bit Integer input variables
0xA400	Integer64 input variables	Array Integer 64	Data of the 64 Bit Integer input variables
0xA440	Unsigned64 input vari-	Array Unsigned	Data of the 64 Bit Unsigned input variables
	ables	64
.0xA480	Integer8 output variables	Array Integer 8	Data of the 8 Bit Integer output variables
0xA4C0	Unsigned8 output vari-	Array Unsigned	Data of the 8 Bit Unsigned output variables
	ables	8
0xA500	Boolean output variables	Boolean	Data of the Boolean output variables
0xA540	Integer16 output variables	Array Integer 16	Data of the 16 Bit Integer output variables
0xA580	Unsigned16 output	Array Un-	Data of the 16 Bit Unsigned output variables
	variables	signed16
0xA5C0	Integer24 output variables	Array Integer 24	Data of the 24 Bit Integer output variables
0xA600	Unsigned24 output	Array Unsigned	Data of the 24 Bit Unsigned output variables
	variables	24
0xA640	Integer32 output variables	Array Integer 32	Data of the 32 Bit Integer output variables
0xA680	Unsigned32 output	Array Unsigned	Data of the 32 Bit Unsigned output variables
	variables	32

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0xA6C0	Float32 output variables	Array Floating	Data of the 32 Bit Floating point output vari-
		Point 32	ables
0xA700	Unsigned40 output	Array Unsigned	Data of the 40 Bit Unsigned output variables
	variables	40
0xA740	Integer40 output variables	Array Integer 40	Data of the 40 Bit Integer output variables
0xA780	Unsigned48 output	Array Unsigned	Data of the 48 Bit Unsigned output variables
	variables	48
0xA7C0	Integer48 output variables	Array Integer 48	Data of the 48 Bit Integer output variables
0xA800	Unsigned56 output	Array Unsigned	Data of the 56 Bit Unsigned output variables
	variables	56
0xA840	Integer56 output variables	Array Integer 56	Data of the 56 Bit Integer output variables
0xA880	Integer64 output variables	Array Integer 64	Data of the 64 Bit Integer output variables
0xA8C0	Unsigned64 output	Array Unsigned	Data of the 64 Bit Unsigned output variables
	variables	64

5.3.4.5.1 Object 0xA000, Integer8 IEC 61131-1 Input variables

Idx	S-Idx	Name	Type	Attribute	Default Value
0xA000	0	Number of input data blocks	Unsigned8	RO	-
	1	1st Input data block	Integer8	RO	-
	2	2nd Input data block	Integer8	RO	-
...	....	....	....	....	....
0xA002	2	512th Input data block	Integer8	RO	-

This object includes the process data of the input variables of the Integer8 type. Sub-index 1 contains the first 8 bit input data. Sub-index 2 contains the following, etc.

5.3.4.5.2 Object 0xA040, Unsigned8 IEC 61131-1 Input variables

Idx	S-Idx	Name	Type	Attribute	Default Value
0xA040	0	Number of input data blocks	Unsigned8	RO	-
	1	1st Input data block	Unsigned8	RO	-
	2	2nd Input data block	Unsigned8	RO	-
...	....	....	....	....	....
0xA042	2	512th Input data block	Unsigned8	RO	-

This object contains the process data of the input variables of the Unsigned8 type. Sub-index 1 contains the first 8 bit input data. Sub-index 2 contains the following etc.

5.3.4.5.3 Object 0xA080, Boolean IEC 61131-1 Input variables

Idx	S-Idx	Name	Type	Attribute	Default Value
0xA080	0	Number of input data blocks	Unsigned8	RO	-
	1	1st Input data block	Boolean	RO	-
	2	2nd Input data block	Boolean	RO	-
...	....	....	....	....	....
0xA082	2	512th Input data block	Boolean	RO	-

This object contains the process data of the input variables of the Boolean type. Sub-index 1 contains the first 8 bit input data grouped into one byte. Sub-index 2 contains the following etc.

5.3.4.5.4 Object 0xA0C0, Integer16 IEC 61131-1 Input variables

Idx	S-Idx	Name	Type	Attribute	Default Value
0xA0C0	0	Number of input data blocks	Unsigned8	RO	-
	1	1st Input data block	Integer16	RO	-
	2	2nd Input data block	Integer16	RO	-

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...	....	....	....	....	....
0xA0C1	1	256th Input data block	Integer16	RO	-

This object contains the process data of the input variables of the Integer16 type. Sub-index 1 contains the first 16 bit input data. Sub-index 2 contains the following etc.

5.3.4.5.5 Object 0xA101 to 0xA8C0 IEC 61131-1 Inand Output variables

In their analogy, the architecture of all following objects corresponds to that of the ones already described.

Each index has a maximum of 256 sub-indexes (Sub-Index 0-255).

The Sub-Index 0 indicates the number of data entries, whereas in the following sub-indexes the data is filled in blocks.

The block size depends on the data width of the module data type.

Sub-Index	Contents

0	Number of data blocks
1	First data block containing the data width of the corresponding data type
2	Second data block containing the data width of the corresponding data type
...	...

Table 5-3: Sub-indexing of the variable’s data in the object directory

The maximum indexes and sub-indexes result from the memory size of the fieldbus controller with 512 bytes and the individual data width of the data types.

More information

For a review of the maximum indexes for the variables data, please refer to chapter 3.1.5.4.1.4 "Maximum indexes" covering the programmable fieldbus controller 750-837 and 750-838.

WAGO-I/O-SYSTEM 750

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Материал: m083700e

5.3.4.4.18Object 0x6443, Analog Output Error Mode

5.3.4.4.19Object 0x6444, Analog Output Error Value Integer

5.3.4.4.20Object 0x67FE, Error Behavior

5.3.4.5 Reserved Area

5.3.4.5.1 Object 0xA000, Integer8 IEC 61131-1 Input variables

5.3.4.5.2 Object 0xA040, Unsigned8 IEC 61131-1 Input variables

5.3.4.5.3 Object 0xA080, Boolean IEC 61131-1 Input variables

5.3.4.5.4 Object 0xA0C0, Integer16 IEC 61131-1 Input variables

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