User Manual

Fieldbus-specific Additions • 83
CANopen
WAGO-I/O-SYSTEM 750
I/O Modules
With a masked or unmasked mailbox, the following allocation of the process
image size to the number of busy PDOs applies.
Table 35: Allocation of the process image size to the number of busy PDOs
Process
image
size
12 bytes 24 bytes 48 bytes
no. PDO
1 control/status byte
1 empty byte
6 bytes of mailbox or
6 bytes of process data
1 control/status byte
1 empty byte
6 bytes of mailbox or
6 bytes of process data
1 control/status byte
1 empty byte
6 bytes of mailbox or
6 bytes of process data
n+1st
PDO
4 bytes process data
4 bytes empty (reserved)
8 bytes of process data 8 bytes of process data
n+2nd
PDO
free for next module 8 bytes of process data 8 bytes of process data
n+3rd
PDO
- free for next module 8 bytes of process data
n+4th
PDO
- - 2 bytes of process data
n+5th
PDO
- - 8 bytes empty (reserved)
n+6th
PDO
- - free for next module
The 1st PDO contains a control/status byte, an empty byte and six bytes of
mailbox data with an unmasked mailbox or the first six bytes of the process
data. The following PDOs contain the remaining process data.
Note
If the mailbox is unmasked, the first six bytes of process data cannot be
accessed.
If the process image size of the Bluetooth
®
module is 12, the last PDO is not
completely occupied. Another module then begins with the next PDO.
5.1.1.1 Example
A node contains the following modules with input/output process image:
3 x 750-402 for every 4 bits of input data,
1 x 750-452 4 bytes of input data,
1 x 750-644 12 bytes of input and 12 bytes of output data,
1 x 750-550 4 bytes of output data,
1 x 750-452 4 bytes of input data,
1 x 750-550 4 bytes of output data,
1 x 750-452 4 bytes of input data,
1 x 750-504 4 bits of output data.