172 • I/O Modules
Process Data Architecture for CANopen
WAGO-I/O-SYSTEM
750
CANopen
750-637
The above Incremental Encor Interface Module has a total of 6 bytes of user
data in both the Input and Output Process Image (4 bytes of encor data and 2
bytes of control/status). The following table illustrates the Input and Output
Process Image, which have 6 bytes mapped into each image.
Input and Output Process Image
Sub-
index
Offset
byte Destination
Remark
0
C0/S0
Control/Status byte 1
1 D0
n
2 D1
Data Value
3
C1/S1
Control/Status byte 2
4 D2
n+1
5 D3
Data Value
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 module one Subindex is occu-
pied
750-635, 753-635
The above Digital Pulse Interface module has a total of 4 bytes of user data in
both the Input and Output Process Image (3 bytes of module data and 1 byte of
control/status). The following table illustrates the Input and Output Process
Image, which have 4 bytes mapped into each image.
Input and Output Process Image
Sub-
index
Offset
byte Destination
Remark
0 C0/S0
Control/Status
byte
1 D0
2 D1
n
3 D2
Data Value
These modules present themselves with 1x4 bytes, so that the object 0x2800
for 4 byte Special Modules, Inputs and the object 0x2900 for 4 byte Special
Modules, Outputs are used. Therefore for each module one Subindex is occu-
pied.
