Beckhoff CX8050, Documentation

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CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN 117 Version: 1.4
8-byte special terminals, input data
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x3000 0 Number of
elements Unsigned8 ro N Depending
on type and
fittings Number of
available 6-
byte special
channels,
inputs
1 1
st
input
block
Unsigned64 ro Y 0x0000000
000 1
st
input
channel
... ... ... ... ... ... ...
0x40 64
th
input
block
Unsigned64 ro Y 0x0000000
000 64
th
input
channel
Example for special terminals with 8-byte input data: KL5101 (with word alignment, not according to the
default setting)
8-byte special terminals, output data
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x3100 0 Number of
elements Unsigned8 ro N Depending
on type and
fittings Number of
available 6-
byte special
channels,
outputs
1 1
st
output
block
Unsigned64 rww Y 0x0000000
000 1
st
output
channel
... ... ... ... ... ... ...
0X40 64
th
output
block
Unsigned64 rww Y 0x0000000
000 64
th
output
channel
Example for special terminals with 8-byte output data: KL5101 (with word alignment, not according to the
default setting)
Bus node register communication
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x4500 0 Register
Access Unsigned32 rw N none Access to
internal bus
node
registers
The 32 bit value is composed as follows:
MSB LSB
Access (bit 7) + table
number (bits 6...0) Register number High byte register value Low byte register value
[0..1] + [0...0x7F] [0...0xFF] [0...0xFF] [0...0xFF]
As is usual in CANopen, the LSB is transferred first, followed by the MSB.
Accessing index 0x4500 allows any registers in the bus station to be written or read. The channel number
and the register are addressed here with a 32 bit data word.