WAGO I/O-SYSTEM 750, Техническое описание

Страница: 93 / 192

CANopen • 93
Network Communication
WAGO-I/O-SYSTEM 750
CANopen
4.3.1.2.2.3 Example 3:
Read Index 0x6000 Sub-Index 1; First 8 bit digital input block
The signals of the digital input modules are saved in index 0x6000. 8 bits each
are assigned to a group and can be read as from sub index 1. In this example,
the input value of the first 8 bit group is read via an SDO message.
Direction CAN Id Frame Type Data byte 0-7
M->BK 0x601 D 0x40 00 60 01 XX XX XX XX
BK->M 0x581 D 0x4F 00 60 01 02 XX XX XX
Result:
In the 5
th
byte of the CAN message, the bus coupler returns the status of the
first group of 8 bits. In this case the 2
nd
bit is set. Bytes 5-7 are without mean-
ing.
4.3.1.2.2.4 Example 4:
Write Index 0x6200 Sub-Index 1; First 8 bit digital output block
The output values of the digital output modules are saved in index 0x6100.
8 bits each are assigned to a group and can be read and written as from sub in-
dex 1. In this example, the value 0xFF is written into the outputs of the first 8
bit digital output group.
Direction CAN Id Frame Type Data byte 0-7
M->BK 0x601 D 0x2F 00 62 01 FF XX XX XX
BK->M 0x581 D 0x60 00 62 01 XX XX XX XX
Result:
The outputs of the first 8 bit digital output modules are set.
4.3.1.3 Synchronization Object - SYNC
These objects allow the synchronization of all network subscribers. Corre-
sponding configuration of the PDOs can initiate the network subscribers to
process their input data or to update the outputs upon the arrival of a SYNC
object.
In this manner cyclical transmission of a SYNC object ensures that all net-
work subscribers will process their process data simultaneously.