WAGO -I/O-SYSTEM 750 Technical Description page 113

Design Rev. No.:
Bit31
Major-Rev.-Nr.
The serial number is unambiguous for this device family.
4.3.4.2.18 Object 0x1200– 0x1201, Server SDO
Idx
0x1200 to
0x1201
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
0/1 valid/invalid
4.3.4.2.19 Object 0x1400– 0x141F, Receive PDO Communication Parameter
Idx
0x1400 to
0x141F
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
0/1
valid/invalid
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.
WAGO-I/O-SYSTEM 750
CANopen
Bit16
S-Idx Name
0 Max. supported
Entries
1 COB-ID
Client->Server (Rx)
2 COB-ID
Server->Client (Tx)
Bit 30
reserved (always 0)
S-Idx Name
0 Max. supported
Entries
1 COB-ID
2 Transmission type
Bit 30
0/1
RTR allowed / not
allowed
Network Communication
Bit15
Minor-Rev.-Nr.
Type Attribute
Unsigned8 RO
Unsigned32 Idx 0x1200 RO
Idx 0x1201 RW
Unsigned32 Idx 0x1200 RO
Idx 0x1201 RW
Bit11 Bit10
Type Attribute
Unsigned8 RO
Unsigned32 RW
Unsigned8 RW
Bit29 Bit11
reserved (always 0)
CANopen • 113
Bit0
Default Value
2
Idx 0x1200 0x600+Module-ID
Idx 0x1201 0x80000000
Idx 0x1200 0x580+Module-ID
Idx 0x1201 0x80000000
Bit0
COB-ID
Default Value
2
Idx 0x1400 0x200+Module-ID
Idx 0x1401 0x300+Module-ID
Idx 0x1402 0x400+Module-ID
Idx 0x1403 0x500+Module-ID
Idx 0x1404-141F 0x80000000
255
Bit10 Bit0
COB-ID