WAGO -I/O-SYSTEM 750 Technical Description page 5

4.2.3
4.2.4
4.2.5
4.3
4.3.1
4.3.1.1
4.3.1.2
4.3.1.3
4.3.1.4
4.3.2
4.3.2.1
4.3.2.2
4.3.2.3
4.3.2.4
4.3.2.5
4.3.3
4.3.3.1
4.3.3.2
4.3.3.3
4.3.3.4
4.3.3.5
4.3.4
4.3.4.1
4.3.4.2
4.3.4.3
4.3.4.4
4.3.5
4.3.5.1
4.3.5.2
4.3.5.3
4.3.5.4
4.3.5.5
4.3.6
4.3.7
4.3.8
4.3.9
4.3.9.1
5 I/O Modules ............................................................................................. 148
5.1
5.1.1
5.1.2
5.1.3
5.1.4
5.1.5
5.1.6
5.2
5.2.1
5.2.2
5.2.3
WAGO-I/O-SYSTEM 750
CANopen
Network Topology............................................................................. 81
Interface Modules .............................................................................. 82
Configuration Software ..................................................................... 82
Network Communication ....................................................................... 82
Communication Objects .................................................................... 83
Process Data Object - PDO........................................................... 83
Service Data Object - SDO ........................................................... 84
Synchronization Object - SYNC................................................... 93
Emergency Object (EMCY) ......................................................... 94
Communication states of a CANopen fieldbus coupler/controller.... 95
CANopen state diagram................................................................ 95
INITIALIZATION........................................................................ 95
PRE-OPERATIONAL .................................................................. 96
OPERATIONAL........................................................................... 96
STOPPED ..................................................................................... 96
Network Management Objects .......................................................... 97
Module Control Protocols............................................................. 97
Error Control Protocols................................................................. 98
Node Guarding Protocol ............................................................... 99
Heartbeat Protocol ........................................................................ 99
Bootup Protocol .......................................................................... 100
Object Directory .............................................................................. 100
Initialization ................................................................................ 102
Communication Profile Area ...................................................... 106
Manufactor Specific Profile Area ............................................... 117
Standard Device Profile Area - DS 401 ..................................... 129
PDO Transmission........................................................................... 137
Mapping ...................................................................................... 137
Transmit PDO1 ........................................................................... 138
Receive PDO1............................................................................. 139
Transmit PDO2 ........................................................................... 140
Receive PDO2............................................................................. 141
SYNC Monitoring ........................................................................... 142
Node Guarding ................................................................................ 142
Heartbeat Monitoring ...................................................................... 144
Error Message (Emergency) ............................................................ 144
Diagnostic Message of I/O Modules .......................................... 146
Overview .............................................................................................. 148
Digital Input Modules...................................................................... 148
Digital Output Modules ................................................................... 150
Analog Intput Modules.................................................................... 151
Analog Output Modules .................................................................. 152
Special Modules .............................................................................. 153
System Modules .............................................................................. 154
Process Data Architecture for CANopen ............................................. 155
Digital Input Modules...................................................................... 155
Digital Output Modules ................................................................... 157
Analog Input Modules ..................................................................... 161
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