CANopen
• 137
Network Communication
WAGO-I/O-SYSTEM 750
CANopen
4.3.5 PDO Transmission
Data transmission with PDOs is only possible in the
Operational
status.
When changing to the
Operational
status, all TxPDOs are transmitted once
with the transmission type 254 and 255.
Note
Special transmission type 254 and 255
(Index 0x1800 ... 0x181F, sub-index 2):
The analog changes are not transmitted because of the default value
(=FALSE) according to the device profile DS401-Object 0x6423 (analog In-
put Global Interrupt Enable). In this manner, a CAN bus overflow with CAN
messages is prevented. To prevent an overflow when setting the object
0x6423 = TRUE, a correspondingly long
Inhibit Time
can be selected. More-
over, there is the possibility to reduce the amount of messages by configuring
the objects for the threshold value monitoring (objects 0x6421, 0x6424,
0x6425) and for the delta functions (objects 0x6426, 0x6427, 0x6428).
4.3.5.1 Mapping
By PDO mapping you can define the data to be transmitted by means of
PDOs.
If no stored customer specific configuration is used and if no other settings are
performed, the object directory is assigned with a default configuration ac-
cording to the device profile DS 401 (refer to chapter 4.3.4.1 “Initialization”).
If the coupler/controller is in the PRE-OPERATIONAL status, its mapping
can be modified via SDOs instead, in an application specific manner.
More information
For an example of how to create an application specific mapping configura-
tion, refer to chapter
Starting up a CANopen Fieldbus Node
