Beckhoff CX8050, Documentation

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CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN 119 Version: 1.4
Id=0x600+Node-ID DLC=8; Data=23 00 45 00 01 00 01 E3
Id=0x600+Node-ID DLC=8; Data=23 00 45 00 01 01 00 E3
An example of writing register values
After the write protection has been removed, the baud rate index for DIP switch setting 1,1 is to be set to the
value 7. This will assign a baud rate of 20 kbaud to this switch setting.
This requires the value 7 to be written into table 100, register 3. This is done with an SDO write access
(download request) to index 0x4500, sub-index 0 with the 32 bit value E4 03 00 07 (0xE4 = 0x64+0x80):
Id=0x600+Node-ID DLC=8; Data=23 00 45 00 07 00 03 E4
Identify terminals
The identifier of the coupler (or of the bus station) and of the attached Bus Terminals can be read from the
Bus Coupler's table 9. Register 0 then contains the identifier of the Bus Coupler itself, register 1 the identifier
of the first terminal and register n the identification of the n
th
terminal:
Table number Register number Description Value range
9 0 Bus station identifier 0 - 65535
9 1-255 Identifier of the extension
module/bus terminal 0 - 65535
The Bus Coupler description in register number 0 contains 5120 = 0x1400 for the BK5120, 5110 = 0x13F6
for the BK5110 and 5100 = 0x13EC for the LC5100. The Fieldbus Box modules contain the identifier 510 dec
= 0x1FE in register 0.
In the case of analog and special terminals, the terminal identifier (dec) is contained in the extension module
identifier or the terminal description.
Example: if a KL3042 is plugged in as the third terminal, then register 3 contains the value 3042
dec
(0x0BE2).
The following bit identifier is used for digital terminals:
MSB LSB
1 s6 s5 s4 s3 s2 s1 s0 0 0 0 0 0 0 a e
s6...s1: data width in bits; a=1: output terminal; e=1: input terminal
This identifier scheme results in the terminal descriptions listed below:
Extension module identifier Meaning
0x8201 2 bit digital input terminal, e.g. KL1002, KL1052,
Kl9110, KL9260
0x8202 2 bit digital output terminal, e.g. KL2034, KL2612,
KL2702
0x8401 4 bit digital input terminal, e.g. KL1104, KL1124,
KL1194
0x8402 4 bit digital output terminal, e.g. KL2124, KL2134,
KL2184
0x8403 4 bit digital input/output terminal, e.g. KL2212
General coupler configuration (table 0)
Table 0 of the Bus Coupler contains the data for the general coupler configuration. It is not, as a general rule,
necessary to change this; however, for special applications it is possible to change the settings using the
KS2000 configuration software, or through direct access via register communication. The write protection
must first be removed in order to do this (see above).
The relevant register entries are described below: