Beckhoff CX8050, Documentation

Page: 113 / 169

CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN 113 Version: 1.4
Mapping 3rd-16th TxPDO
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x1A02-
0x1A0F
(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
transmit
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
transmit PDOs (TxPDO3ff) 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 behavior of the devices therefore corresponds to DS401 V1,
where in all other respects they accord with DS401 V2.
For the sake of completeness, the following object entries are also contained in the object directory (and
therefore also in the EDS files):