I/O Modules • 171
Process Data Architecture for CANopen
WAGO-I/O-SYSTEM 750
CANopen
750-634
The above Incremental Encor Interface module has 5 bytes of input data (6
bytes in cycle duration measurement mode) and 3 bytes of output data. The
following tables illustrate the Input and Output Process Image, which has 6
bytes mapped into each image.
Input Process Image
Sub-
index
Offset
byte Destination
Remark
0 S
Status
byte
1 D0
2 D1
Counter word
3 D2*
)
(Periodic
time)
4 D3
n
5 D4
Latch word
*
)
If cycle duration measurement mode is enabled in the control byte, the cycle
duration is given as a 24-bit value that is stored in D2 together with D3/D4.
These modules present themselves with 1x6 bytes, so that the object 0x3200
for 6 byte Special Modules, Inputs is used. Therefore for each module one
Subindex is occupied
Output Process Image
Sub-
index
Offset
byte Destination
Remark
0 C
Control
byte
1 D0
2 D1
Counter Setting word
3 -
4 -
n
5 -
not used
These modules present themselves with 1x6 bytes, so that the object 0x3300
for 6 byte Special Modules, Outputs is used. Therefore for each module one
Subindex is occupied
