166 • I/O Modules
Process Data Architecture for CANopen
WAGO-I/O-SYSTEM
750
CANopen
2
D1
3
C1
Control byte of Counter 2
4 D2
n+1
5 D3
Counter Setting Value of Counter 2
These modules present themselves with 2x3 bytes, so that the object 0x2700
for 3 byte Special Modules, Outputs is used. Therefore for each channel one
Subindex is occupied.
Pulse Width Modules
750-511, (and all variations)
The above Pulse Width modules have a total of 6 bytes of user data in both the
Input and Output Process Image (4 bytes of channel data and 2 bytes of con-
trol/status). The two channel values are supplied as 16 bits. Each channel has
its own control/status byte. The following table illustrates the Input and Out-
put Process Image, which has a total of 6 bytes mapped into each image.
Input and Output Process Image
Sub-
index
Offset
byte Destination
Remark
0
C0/S0
Control/Status byte of Channel 1
1 D0
n
2 D1
Data Value of Channel 1
3
C1/S1
Control/Status byte of Channel 2
4 D2
n+1
5 D3
Data Value of Channel 2
These modules present themselves with 2x3 bytes, so that the object 0x2600
for 3 byte Special Modules, Inputs and the object 0x2700 for 3 byte Special
Modules, Outputs are used. Therefore for each channel one Subindex is occu-
pied.
