Module Properties - WAGO CANopen 752 Manual

7.2 Module properties

The I/O Module from the WAGO-I/O-SYSTEM 752 for CANopen is sorted to
server devices. The module supports the following functions:
• CANopen Minimum Capability Device
• Node Guarding
• 2 Transmit (Tx-) PDO
• 2 Receive (Rx-) PDO
• 1 Standard SDO
• 1 Emergency Object
• 1 Synchronisation object (without Timestamp)
• Implementation of the error register (Index 0x1003)
After Power On, the module loads the standard settings and then changes to
the PRE-OPERATIONAL status. The communication as well as the mapping
parameters of the PDOs can be changed and saved (Index 0x1010).
Attention
If upon saving a configuration only the module ID is changed by mans of the
DIP switch, the saved configuration is continued to be used. This means that
all module ID specific entries in the object directory (objects being dependent
on the module ID and having the "rw" attribute) signal with the old values
(e.g. Emergency ID, Node Guarding ID, ...).
In the CANopen profile DS-401 the module maps the following objects:
• Maximum 4 digital input blocks (Index 0x6000)
• Maximum 4 digital output blocks (Index 0x6200)
The non-profile specific I/O functionality is mapped into the 'Manufacturer
Specific Area'. Here we again deal with the I/O data (index 0x2000 and
0x2100) as well as with the diagnosis information of the outputs (index
0x5900). In the communication profile area the objects 0x1000 - 0x1200 are
supported as described in chapter Communication Profile Area. The objects
for the PDO configuration: index 0x1400 and 0x1401, 0x1600 and 0x1601,
0x1800 and 0x1801 and 0x1A00 and 0x1A01 can also be used.
Fieldbus Dependent I/O Module
CANopen
CANopen • 29