162 • I/O Modules
Process Data Architecture for CANopen
WAGO-I/O-SYSTEM
750
CANopen
4 Channel Analog Input Modules
750-453, -455, -457, -459, -460, -468, (and all variations),
753-453, -455, -457, -459
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
4 D4
n+2
5 D5
Measured Value Channel 3
6 D6
n+3
7 D7
Measured Value Channel 4
These modules present themselves with 4x2 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.
5.2.4 Analog Output Modules
The hardware of an analog output module has 16 bits of analog output data per
channel and 8 control/status bits. However, the CANopen coupler/controller
does not have access to the 8 control/status bits. With CANopen the Status
byte is set off as Emergency telegram. Therefore, the CANopen cou-
pler/controller can only supply the 16 bits of analog data per channel, which is
grouped as bytes and mapped in Intel format in the Output Process Image.
When digital output modules are also present in the node, the analog output
data is always mapped into the Output Process Image in front of the digital
data.
2 Channel Analog Output Modules
750-550, -552, -554, -556, -560, -585, (and all variations),
753-550, -552, -554, -556
Output Process Image
Sub-
index
Offset
byte Destination
Remark
0 D0
n
1 D1
Output Value Channel 1
2 D2
n+1
3 D3
Output Value Channel 2
