WAGO -I/O-SYSTEM 750 Technical Description page 178

178 • I/O Modules
Process Data Architecture for CANopen
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.
These modules present themselves with 1x 12...48 bytes, so that the object
0x4200-0x4202 for Gateway Modules, Inputs and the object 0x4300-0x4302
for Gateway Modules, Outputs are used. Therefore for each module one
Subindex is occupied, within the Subindex 1 containes the mailbox size,
Subindex 2 the mailbox and Subindex 3 to 48 the process data.
Input and Output Process Image
12 byte 20 byte
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 byte empty sl. 27/27A)
(reserved)
4 byte process
data
free for next (sl. 28/28A –
module slave 3B)
4 byte empty
(reserved)
free for next
module
24 byte 32 byte
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 byte 48 byte
1 status/
1 status/
control byte
control byte
1 empty
1 empty byte
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
8 byte process
process data
data
(sl. 12/12A
(sl. 12/12A –
– sl.
sl. 27/27A)
27/27A)
8 byte process 8 byte
data process data
(sl. 28/28A – (sl. 28/28A
slave 11B) – slave 11B)
8 byte process 8 byte
data process data
(slave 12B – (slave 12B –
slave 27B) slave 27B)
2 byte
2 byte process
process data
data
(slave 28B -
(slave 28B -
slave 31B)
slave 31B)
6 byte
6 byte empty
empty
(reserved)
(reserved)
8 byte
free for next
empty
module
(reserved)
free for next
module
WAGO-I/O-SYSTEM 750
CANopen