WAGO I/O-SYSTEM 750, Technical Description

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Table of Contents • v
WAGO-I/O-SYSTEM 750
CANopen
4.2.3 Network Topology............................................................................. 81
4.2.4 Interface Modules .............................................................................. 82
4.2.5 Configuration Software ..................................................................... 82
4.3 Network Communication ....................................................................... 82
4.3.1 Communication Objects .................................................................... 83
4.3.1.1 Process Data Object - PDO........................................................... 83
4.3.1.2 Service Data Object - SDO ........................................................... 84
4.3.1.3 Synchronization Object - SYNC................................................... 93
4.3.1.4 Emergency Object (EMCY) ......................................................... 94
4.3.2 Communication states of a CANopen fieldbus coupler/controller.... 95
4.3.2.1 CANopen state diagram................................................................ 95
4.3.2.2 INITIALIZATION........................................................................ 95
4.3.2.3 PRE-OPERATIONAL .................................................................. 96
4.3.2.4 OPERATIONAL........................................................................... 96
4.3.2.5 STOPPED ..................................................................................... 96
4.3.3
Network Management Objects .......................................................... 97
4.3.3.1 Module Control Protocols............................................................. 97
4.3.3.2 Error Control Protocols................................................................. 98
4.3.3.3 Node Guarding Protocol ............................................................... 99
4.3.3.4 Heartbeat Protocol ........................................................................ 99
4.3.3.5 Bootup Protocol .......................................................................... 100
4.3.4 Object Directory .............................................................................. 100
4.3.4.1 Initialization ................................................................................ 102
4.3.4.2
Communication Profile Area ...................................................... 106
4.3.4.3 Manufactor Specific Profile Area ............................................... 117
4.3.4.4 Standard Device Profile Area – DS 401 ..................................... 129
4.3.5 PDO Transmission........................................................................... 137
4.3.5.1 Mapping ...................................................................................... 137
4.3.5.2 Transmit
PDO1 ........................................................................... 138
4.3.5.3 Receive PDO1............................................................................. 139
4.3.5.4 Transmit PDO2 ........................................................................... 140
4.3.5.5 Receive PDO2............................................................................. 141
4.3.6 SYNC Monitoring ........................................................................... 142
4.3.7 Node Guarding ................................................................................ 142
4.3.8 Heartbeat Monitoring ...................................................................... 144
4.3.9 Error Message (Emergency) ............................................................ 144
4.3.9.1 Diagnostic Message of I/O Modules .......................................... 146
5 I/O Modules ............................................................................................. 148
5.1 Overview .............................................................................................. 148
5.1.1
Digital Input Modules...................................................................... 148
5.1.2 Digital Output Modules ................................................................... 150
5.1.3 Analog Intput Modules .................................................................... 151
5.1.4 Analog Output Modules .................................................................. 152
5.1.5 Special Modules .............................................................................. 153
5.1.6 System Modules .............................................................................. 154
5.2 Process Data Architecture for CANopen ............................................. 155
5.2.1
Digital Input Modules...................................................................... 155
5.2.2 Digital Output Modules ................................................................... 157
5.2.3 Analog Input Modules ..................................................................... 161