Beckhoff CX8050, Documentation

Page: 111 / 169

CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN 111 Version: 1.4
Mapping 1st TxPDO
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x1A00 0 Number of
elements Unsigned8 rw N Depending
on type and
fittings Mapping
parameter
of the first
transmit
PDO; sub-
index 0:
number of
mapped
objects.
1 1
st
mapped
object
Unsigned32 rw N 0x6000010
8 1
st
mapped
application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
2 2
nd
mapped
object
Unsigned32 rw N 0x6000020
8 2
nd
mapped
application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
... ... ... ... ... ... ...
8 8
th
mapped
object
Unsigned32 rw N 0x6000080
8 8
th
mapped
application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
The first transmit PDO (TxPDO1) is provided by default for digital input data. Depending on the number of
inputs inserted, the necessary length of the PDO is automatically determined, and the corresponding objects
are mapped. Since the digital inputs are organised in bytes, the length of the PDO in bytes can be found
directly at sub-index 0.
A specific sequence must be observed in order to change the mapping (see object index 0x1600).