Beckhoff CX8050, Documentation

Page: 109 / 169

CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN 109 Version: 1.4
Communication parameters for the 4th TxPDO
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x1803 0 Number of
elements Unsigned8 ro N 5 Communica
tion
parameters
for the
fourth
transmit
PDO. Sub-
index 0:
number of
following
parameters
1 COB-ID Unsigned32 rw N 0x0000048
0 + Node-
ID COB-ID
(Communic
ation Object
Identifier)
TxPDO1
2 Transmissi
on Type Unsigned8 rw N 255 Transmissi
on type of
the PDO
3 Inhibit Time Unsigned16 rw N 0 Repetition
delay [value
x 100 µs]
4 CMS
Priority
Group Unsigned8 rw N - Present for
reasons of
backwards
compatibilit
y, but not
used.
5 Event
Timer Unsigned16 rw N 0 Event-
Timer
The fourth transmit PDO contains analog input data as a rule (see Mapping). It is configured for event-driven
transmission (transmission type 255). Event-driven mode must first be activated (see object 0x6423),
otherwise the inputs can only be interrogated (polled) by remote transmission request (RTR).