178 • I/O Modules
Process Data Architecture for CANopen
WAGO-I/O-SYSTEM
750
CANopen
Input and Output Process Image
process
image size
12 byte
20 byte
24 byte
32 byte
40 byte
48 byte
n-th PDO
1 status/
control byte
1 empty byte
6 byte
mailbox or 6
byte process
data (flags
and slave
1/1A – sl.
11/11A)
1 status/
control byte
1 empty byte
6 byte
mailbox or 6
byte process
data (flags
and slave
1/1A – sl.
11/11A)
1 status/
control byte
1 empty byte
6 byte
mailbox or 6
byte process
data (flags
and slave
1/1A – sl.
11/11A)
1 status/
control byte
1 empty byte
6 byte
mailbox or 6
byte process
data (flags
and slave
1/1A – sl.
11/11A)
1 status/
control byte
1 empty byte
6 byte
mailbox or 6
byte process
data (flags
and slave
1/1A – sl.
11/11A)
1 status/
control byte
1 empty
byte
6 byte
mailbox or 6
byte process
data (flags
and slave
1/1A – sl.
11/11A)
n+1-th
PDO
4 byte process
data
(sl. 12/12A –
sl. 19/19A)
4 byte empty
(reserved)
8 byte process
data
(sl. 12/12A –
sl. 27/27A)
8 byte process
data
(sl. 12/12A –
sl. 27/27A)
8 byte process
data
(sl. 12/12A –
sl. 27/27A)
8 byte process
data
(sl. 12/12A –
sl. 27/27A)
8 byte
process data
(sl. 12/12A
– sl.
27/27A)
n+2-th
PDO
free for next
module
4 byte process
data
(sl. 28/28A –
slave 3B)
4 byte empty
(reserved)
8 byte process
data
(sl. 28/28A –
slave 11B)
8 byte process
data
(sl. 28/28A –
slave 11B)
8 byte process
data
(sl. 28/28A –
slave 11B)
8 byte
process data
(sl. 28/28A
– slave 11B)
n+3-th
PDO
free for next
module
free for next
module
8 byte process
data
(slave 12B –
slave 27B)
8 byte process
data
(slave 12B –
slave 27B)
8 byte
process data
(slave 12B –
slave 27B)
n+4-th
PDO
free for next
module
2 byte process
data
(slave 28B -
slave 31B)
6 byte empty
(reserved)
2 byte
process data
(slave 28B -
slave 31B)
6 byte
empty
(reserved)
n+5-th
PDO
free for next
module
8 byte
empty
(reserved)
n+6-th
PDO
free for next
module
The n-th PDO contains the status / control byte, one empty byte and six bytes
of mailbox data when the mailbox is superimposed, or the first six bytes of
process data. The subsequent PDOs contain the further process data.
Note
When the mailbox is superimposed, it is not possible to access the first six
bytes of process data (flags and slave 1/1A to slave 11/11A).
If the process image of the AS-interface Master module is 12, 20, 40 or 48
bytes in size, the last PDO is not fully occupied. A further module then starts
with the next PDO.
These modules present themselves with 1x 12...48 bytes, so that the object
0x4200-0x4202 for Gateway Modules, Inputs and the object 0x4300-0x4302
for Gateway Modules, Outputs are used. Therefore for each module one
Subindex is occupied, within the Subindex 1 containes the mailbox size,
Subindex 2 the mailbox and Subindex 3 to 48 the process data.
