102 • CANopen
Network
Communication
WAGO-I/O-SYSTEM
750
CANopen
4.3.4.1 Initialization
The connected module configuration is determined following power On.
If a customer-specific configuration was saved and if the currently connected
module configuration coincides with the one last saved, the object directory
with this saved configuration will be initialized.
In every other case, object directory will be assigned a default configuration.
4.3.4.1.1 Default configuration
4.3.4.1.1.1 Initialization Communication Profile Area
All objects of this profile assisted by the bus coupler are initialized according
to the default values of DS 301 (CANopen Application Layer and Communi-
cation Profile).
•
Entry of the default mapping parameters:
Pre-assignment of the mapping parameters depends on the device profile
used. The bus coupler assists the DS 401 profile, and as such the process
described there is used. The first 4 Rx-/TxPDOs are defined as default
PDOs. If more inputs/outputs exist at the bus coupler than can be covered
with the default PDOs, from Rx-/TxPDO 5 all remaining I/Os are entered.
First all digital, then all analog I/Os are entered. If more than 64 digital
I/Os per input/output are available, a continuation is only made with PDO
5, even if no analog modules exist. PDO 2 to 4 will then remain unused.
Furthermore, only one data type is used as a default entry for a PDO, in
other words, if a 3 byte and a 4 byte module exists, then a default is en-
tered for each of the 2 PDOs.
1. RxPDO:
contains maximum the first 8x8 digital outputs. If no digital outputs exist, the
sub index 0 has the default value 0, and this PDO is not used with its default
value.
Idx
S-Idx
Description
Default Value
0x1600
0
Number of mapped objects
None, possible values:
0: no digital output block
1..8: 1..8 digital output
blocks
1
1. mapped digital output block
0x6200 01 08
2
2. mapped digital output block
0x6200 02 08
: :
:
8
8. mapped digital output block
0x6200 08 08
