WAGO I/O-SYSTEM 750, Technical Description

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CANopen • 113
Network Communication
WAGO-I/O-SYSTEM 750
CANopen
Design Rev. No.:
Bit31 Bit16 Bit15 Bit0
Major-Rev.-Nr. Minor-Rev.-Nr.
The serial number is unambiguous for this device family.
4.3.4.2.18 Object 0x1200– 0x1201, Server SDO
Idx S-Idx Name Type Attribute Default Value
0x1200 to
0x1201 0 Max. supported
Entries
Unsigned8 RO 2
1 COB-ID
Client->Server (Rx) Unsigned32 Idx 0x1200 RO
Idx 0x1201 RW Idx 0x1200 0x600+Module-ID
Idx 0x1201 0x80000000
2 COB-ID
Server->Client (Tx) Unsigned32 Idx 0x1200 RO
Idx 0x1201 RW Idx 0x1200 0x580+Module-ID
Idx 0x1201 0x80000000
Access to the entries in the object directory is made via this object.
The default value of the second SDO is not active. Any change to the COB
IDs is prohibited in the second SDO, if these are active (Bit 31 = 0).
Design COB-ID:
Bit31 Bit 30 Bit11 Bit10 Bit0
0/1 valid/invalid reserved (always 0) COB-ID
4.3.4.2.19 Object 0x1400– 0x141F, Receive PDO Communication Parameter
Idx S-Idx Name Type Attribute Default Value
0x1400 to
0x141F 0 Max. supported
Entries
Unsigned8 RO 2
1 COB-ID Unsigned32 RW Idx 0x1400 0x200+Module-ID
Idx 0x1401 0x300+Module-ID
Idx 0x1402 0x400+Module-ID
Idx 0x1403 0x500+Module-ID
Idx 0x1404-141F 0x80000000
2 Transmission type Unsigned8 RW 255
This object is used to set the communication parameters of the RxPDOs. 32
RxPDOs are supported. The default COB IDs of the first four PDOs are pre-
assigned according to the DS301 standard. All further PDOs are deactivated.
If not all default PDOs are used (i.e. a smaller number of modules is con-
nected), also the default PDOs not used are deactivated.
Design COB-ID:
Bit31 Bit 30 Bit29 Bit11 Bit10 Bit0
0/1
valid/invalid 0/1
RTR allowed / not
allowed reserved (always 0) COB-ID
If a new COB ID is to be entered, bit 31 must be set to 1 first, because the
DS301 standard does not permit to change a valid COB ID (Bit31=0).
A mode can be defined for each PDO for the purpose of data transmission
(transmission type in the Index Communication Parameter). As standard, digi-
tal and analog inputs are transmitted as ´Change of Value´(COV). The type of
transmission depending of the set transmission type is explained in the follow-
ing table.