CANopen • 135

Network Communication

5.3.1.2.2.3Example 3:

Read Index 0x6000 Sub-Index 1; First 8 bit digital input block

The signals of the digital input modules are saved in index 0x6000. 8 bits each are assigned to a group and can be read as from sub index 1. In this example, the input value of the first 8 bit group is read via an SDO message.

Result:

In the 5th byte of the CAN message, the bus coupler returns the status of the first group of 8 bits. In this case the 2nd bit is set. Bytes 5-7 are without meaning.

5.3.1.2.2.4Example 4:

Write Index 0x6200 Sub-Index 1; First 8 bit digital output block

The output values of the digital output modules are saved in index 0x6100.

8 bits each are assigned to a group and can be read and written as from sub index 1. In this example, the value 0xFF is written into the outputs of the first 8 bit digital output group.

Result:

The outputs of the first 8 bit digital output modules are set.

5.3.1.3 Synchronization Object - SYNC

These objects allow the synchronization of all network subscribers. Corresponding configuration of the PDOs can initiate the network subscribers to process their input data or to update the outputs upon the arrival of a SYNC object.

In this manner cyclical transmission of a SYNC object ensures that all network subscribers will process their process data simultaneously.

WAGO-I/O-SYSTEM 750

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