I/O Modules • 161
Process Data Architecture for CANopen
WAGO-I/O-SYSTEM 750
CANopen
5.2.3 Analog Input Modules
The hardware of an analog input module has 16 bits of measured analog data
per channel and 8 bits of control/status. However, the CANopen cou-
pler/controller does not have access to the 8 control/status bits. Therefore, the
CANopen coupler/controller can only access the 16 bits of analog data per
channel, which are grouped as bytes and mapped in Intel format in the Input
Process Image.
When digital input modules are also present in the node, the analog input data
is always mapped into the Input Process Image in front of the digital data.
1 Channel Analog Input Module
750-491, (and all variations)
Input Process Image
Sub-
index
Offset
byte Destination
Remark
0 D0
n
1 D1
Measured Value U
D
2 D2
n+1
3 D3
Measured Value U
ref
These modules present themselves with 2x2 bytes, so that the object 0x6401
(also 0x2400 possible) for 2 byte Special Modules, Inputs is used. Therefore
for each measured value one Subindex is occupied.
2 Channel Analog Input Modules
750-452, -454, -456, -461, -462, -465, -466, -467, -469, -472, -474, -475, -476,
-477, -478, -479, -480, -481, -483, -485, -492, (and all variations), 753-452, -
454, -456, -461, -465, -466, -467, -469, -472, -474, -475, -476, -477, -478, -
479, -483, -492, (and all variations)
Input Process Image
Sub-
index
Offset
byte Destination
Remark
0 D0
n
1 D1
Measured Value Channel 1
2 D2
n+1
3 D3
Measured Value Channel 2
These modules present themselves with 2x2 bytes, so that the object 0x6401
(also 0x2400 possible) for 2 byte Special Modules, Inputs is used. Therefore
for each channel one Subindex is occupied.
