114 • CANopen
Network
Communication
WAGO-I/O-SYSTEM
750
CANopen
Transmis-
sion type
PDO transmission
cyclic
acyclic
synchro-
nous
asyn-
chro-
nous
RTR
only
TxPDO
(Inputs)
RxPDO
(outputs)
0
X
X
if COV is transmitted
with each SYNC
Set outputs after each
SYNC as requested by the
last PDO received
1 – 240
X
X
Transmission with
each x SYNC
(x = 1 to 240)
Set outputs
after each
SYNC
as requested by the
last PDO received
241 – 251
- reserved -
252
X
X
Data is read-in again
with a SYNC, but not
sent,
request via RTR
Not supported
253
X
X
Request via RTR
COV
254 X COV
1
COV
255 X COV
1
COV
1
the data is transmitted at the interval of the set inhibit time
4.3.4.2.20
Object 0x1600– 0x161F, Receive PDO Mapping Parameter
Idx
S-Idx
Name
Type
Attribute
Default Value
0x1600 to
0x161F
0
Number of mapped
Objects
Unsigned8 RW
-
1 to 8
1. Object to 8. Object
Unsigned32
RW
-
This object is used to define the data, which is to be transmitted by means of
the PDO.
Sub-index 0 contains the number of objects valid for the PDO.
Design 1. to 8. Object:
Bit31 Bit16
Bit
15 Bit8
Bit7 Bit0
Index Sub-Index
Size
Index:
Index of the object to be transmitted
Sub-Index:
Sub-index of the object to be transmitted
Size:
Object size in bits
Due to the fact that max. 8 bytes can be transmitted in a
PDO, the sum of the valid object lengths must not exceed
64 (8Byte*8Bit)
