WAGO -I/O-SYSTEM 750 Technical Description page 122

122 • CANopen
Network Communication
The entry indicates the number of the connected modules in the maximum
configuration.
When changing the value from 0 to >0, the configuration is created as de-
scribed from sub-index 1. During the creation of a new configuration, all pre-
viously configuration settings that have not been permanently stored, will be
written over and the process image reset. For this reason, always configure in-
dex 0x4500 first, followed by all other settings (mapping, sync time,...).
Setting the sub-index 0 is only possible in the Pre-Operational status.
If the creation of a new configuration is free from errors, an Emergency is sent
with the parameters PP=LL=SS=0.
If an error occurs during the creation of a new configuration (i.e. the number
of connected modules exceeds that of the modules configured), a correspond-
ing Emergency is transmitted. The coupler starts with the default configura-
tion in accordance with the modules connected, and changes to the STOP
status.
Emergency structure under a faulty creation of a configuration
Parameter: SS (cause of the error)
Bit 4..7
0
0
0
0
0
N
0
0
0
0
0
•
Sub-Index 0
Sub-index 0 = 0: Mapping of virtual modules not active
Sub-index 0 ≠ 0 Mapping in of virtual modules active
• Emergency Message:
Error Code 0x5000
Error Register 0x81
• Additional Code 00 03 PP LL SS
PP: indicates the physical module slot, where the error has occurred
LL: indicates the logic slot (slot in the maximum configuration) of the
module, where the error has occurred
SS: Cause of the error
Bit 0..3
1
2
3
4
5
6
7
8
9
10
Description
analog module expected acc. to the configuration
digital module expected acc. to the configuration
output module expected acc. to the configuration
input module expected acc. to the configuration
Digital modules:
- Wrong number of bits of the whole module
(bits per Channel * number of channels).
Analog modules:
- module with n channels expected acc. to the configuration
number of connected modules exceeds those configured
Digital modules: - invalid
Analog modules: - Wrong number of bytes per Channel
Gateway module: - wrong total size of process image
Gateway module expected acc. to the configuration
Wrong indication of mailbox size
number of connected modules under-runs those configured
WAGO-I/O-SYSTEM 750
CANopen