Beckhoff CX8050, Documentation

Page: 105 / 169

CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN 105 Version: 1.4
Mapping parameters for the 3rd-16th RxPDO
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x1602-
0x160F
(dependin
g on the
device
type) 0 Number of
elements Unsigned8 rw N Depending
on type and
fittings Mapping
parameters
for the third
to sixteenth
receive
PDOs; sub-
index 0:
number of
mapped
objects.
1 1
st
mapped
object
Unsigned32 rw N 0x0000000
0 (see text) 1
st
mapped
application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
2 2
nd
mapped
object
Unsigned32 rw N 0x0000000
0 (see text) 2
nd
mapped
application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
... ... ... ... ... ... ...
8 8
th
mapped
object
Unsigned32 rw N 0x0000000
0 (see text) 8
th
mapped
application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
The 3
rd
to 16
th
receive PDOs (RxPDO3ff) are automatically given a default mapping by the bus node
depending on the attached terminals (or depending on the extension modules). The procedure is described
in the section on PDO Mapping.
A specific sequence must be observed in order to change the mapping (see object index 0x1600).
Note
[Gefahrinformation hier einfügen!]
NoteDS401 V2 specifies analog input and/or output data as the default mapping for PDOs
3+4. This corresponds to Beckhoff's default mapping when less than 65 digital inputs or
outputs are present. In order to ensure backwards compatibility, the Beckhoff default map-
ping is retained - the mapping behaviour of the devices therefore corresponds to DS401
V1, where in all other respects they accord with DS401 V2.