WAGO-I/O-SYSTEM 750
Appendix 139
750-657 IO-Link Master
Manual
Version 1.0.2, valid from FW/HW-Version 02/01
11.4.2
CANopen
To use the IO-Link master in CANopen systems, the following settings for data
access must be observed:
Table 134: Data access CANopen
Process image size
CANopen object
4 Bytes
4 Byte Special
6 Bytes
6 Byte Special
8 Bytes
8 Byte Special
10 Bytes
9 Byte Plus
12 Bytes
9 Byte Plus
16 Bytes
9 Byte Plus
20 Bytes
9 Byte Plus
24 Bytes
9 Byte Plus
Coordinate segment limits of the process image and PDO limits!
As CAN telegrams are transferred in 8-byte segments, make sure that the segment
limits of the process image match the PDO limits when areas to be transferred > 1
byte. Possible delayed processing of adjacent segments can otherwise lead to data
inconsistency.
11.4.2.1 PDO Mapping
The data of the IO-Link master can be achieved by different entries per process
image size. For example, the data is achieved by the entry "9 byte plus" for a
process image length of 12 bytes (see the following figure).
