WAGO -I/O-SYSTEM 750 Series Manual page 52

52 • Fieldbus-specific behavior
CANopen
The following assignment of the process image size to the number of occupied
PDOs applies in the operating mode with suppressable mailbox (Mode 2).
Process
image size
n-th
PDO
n+1-th
PDO
n+2-th
PDO
n+3-th
PDO
n+4-th
PDO
n+5-th
PDO
n+6-th
PDO
The n-th PDO contains the status / control byte, one empty byte and six bytes
of mailbox data when the mailbox is superimposed, or the first six bytes of
process data. The subsequent PDOs contain the further process data.
Note:
When the mailbox is superimposed, it is not possible to access the first six
bytes of process data (flags and Slave 1/1A to Slave 11/11A).
If the process image of the AS-Interface Master module is 12, 20, 40 or 48
bytes in size, the last PDO is not fully occupied. A further module then starts
with the next PDO.
12 bytes 20 bytes
1 status / 1 status /
control byte control byte
1 empty byte 1 empty byte
6 byte 6 byte
mailbox or 6 mailbox or 6
byte process byte process
data (flags data (flags
and Slave and Slave
1/1A – Sl. 1/1A – Sl.
11/11A) 11/11A)
4 byte process
data 8 byte process
(Sl. 12/12A – data
Sl. 19/19A) (Sl. 12/12A –
4 bytes empty Sl. 27/27A)
(reserved)
4 byte process
data
free for next (Sl. 28/28A –
module Slave 3B)
4 bytes empty
(reserved)
free for next
module
24 bytes 32 bytes
1 status / 1 status /
control byte control byte
1 empty byte 1 empty byte
6 byte 6 byte
mailbox or 6 mailbox or 6
byte process byte process
data (flags data (flags
and Slave and Slave
1/1A – Sl. 1/1A – Sl.
11/11A) 11/11A)
8 byte process 8 byte process
data data
(Sl. 12/12A – (Sl. 12/12A –
Sl. 27/27A) Sl. 27/27A)
8 byte process 8 byte process
data data
(Sl. 28/28A – (Sl. 28/28A –
Slave 11B) Slave 11B)
8 byte process
free for next data
module (Slave 12B –
Slave 27B)
free for next
module
40 bytes 48 bytes
1 status / 1 status /
control byte control byte
1 empty byte 1 empty byte
6 byte 6 byte
mailbox or 6 mailbox or 6
byte process byte process
data (flags data (flags
and Slave and Slave
1/1A – Sl. 1/1A – Sl.
11/11A) 11/11A)
8 byte process 8 byte process
data data
(Sl. 12/12A – (Sl. 12/12A –
Sl. 27/27A) Sl. 27/27A)
8 byte process 8 byte process
data data
(Sl. 28/28A – (Sl. 28/28A –
Slave 11B) Slave 11B)
8 byte process 8 byte process
data data
(Slave 12B – (Slave 12B –
Slave 27B) Slave 27B)
2 byte process 2 byte process
data data
(Slave 28B - (Slave 28B -
Slave 31B) Slave 31B)
6 bytes empty 6 bytes empty
(reserved) (reserved)
free for next 8 bytes empty
module (reserved)
free for next
module
WAGO-I/O-SYSTEM 750
I/O Modules