WAGO I/O-SYSTEM 750, Technical Description

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CANopen • 121
Network Communication
WAGO-I/O-SYSTEM 750
CANopen
4.3.4.3.20 Object 0x4300-0x4302, Gateway Module Output
Idx S-Idx Name Type Attribute Default Value Meaning
0x4300-
0x4302 0 Largest sub-index
supported
Unsigned8 RO - Max. supported Sub-Index
1 Mailbox length Unsigned8 RO - Size of Mailbox
2 Mailbox Octet String RW - Mailbox
3-30 Gateway Process data Unsigned8 RW - Process data of the Gateway Module
One Control Byte is mapped for each module. It is in the first place of the
mailbox, afterwards an empty byte and then the actual mailbox box data fol-
low.
Example:
1 byte Control, 6 bytes mailbox, 4 bytes data
Data in the output process image
C - MB1 MB2 MB3 MB4 MB5 MB6 D1 D2 D3 D4
Entries in the Object directory
Sub0 6
Sub1 8
Sub2 C - MB1 MB2 MB3 MB4 MB5 MB6
Sub3 D1
Sub4 D2
Sub5 D3
Sub6 D4
4.3.4.3.21 Object 0x4500, Spacer Module Configuration
Idx S-Idx Name Type Attribute Default Value Meaning
0x4500 0 Number of plugged and
virtual I/O nodules Unsigned8 RW 0 0: not active
1 .. 64: Maximum number of plugged
I/O modules (phys virtual)
1 1. I/O module
description Unsigned16 RW 0 1. I/O module
.... .... .... .... .... ....
64 64. I/O module descrip-
tion Unsigned16 RW 0 64. I/O module
With the help of this object it is possible to insert virtual modules into the
node. In this manner, for instance, a max. node extension can be projected and
a new node subsequently designed which represents a sub-quantity in relation
to the maximum configuration. The behavior of this new node with regard to
its object entries in relation to connected modules is identical to that of the
maximum configuration. As such, other applications (CANopen master,...) can
be designed once for the maximum configuration and have access to any sub-
quantity without having to change its setting.
In the same manner it is possible to provide for future extensions from the
start of the design process and making later adaptation of the mapping will be
unnecessary.