CANopen
• 143
Network Communication
WAGO-I/O-SYSTEM 750
CANopen
The states are coded as follows:
State:
Value:
PRE-OPERATIONAL 127
OPERATIONAL 5
STOP 4
The Life-Time is the product of Guard-Time (Index 0x100C) and Life Time
Factor (Index 0x100D).
Failure of Node Guarding:
If no Node Guarding message is received with the life-time, this is shown by a
blink code. In addition, an emergency message (Error Code: 0x8130, Error
Register: 0x11, Additional Code: 0x00 04 00 000 0) is sent, the outputs are ac-
tivated according to the objects 0x6206, 0x6207, 0x6443 and 0x6444, and the
bus coupler changes to the pre-defined status according to object 0x67FE.
As soon as the Node Guarding protocol is recorded, another emergency mes-
sage (Error Code: 0x0000, Error Register: 0x11, Additional Code: 00 04 00
000 0) is sent to show that the Node Guarding is reactivated, whereby the out-
puts and the bus coupler status remain unchanged.
It is possible to only use the Node Guarding protocol or the Heartbeat proto-
col. If the Heartbeat-Producer-Time is configured, the Heartbeat protocol is
always used.
