Beckhoff CX8050, Documentation

Page: 120 / 169

CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN
120 Version: 1.4
K-Bus configuration
Table 0, register 2, contains the K-Bus configuration, and is coded as follows (default value: 0x0006):
MSB LSB
0 0 0 0 0 0 0 0 0 0 0 0 0 D G A
A: Auto-reset
If there is a K-Bus error, attempts are made cyclically to start the K-Bus up again through a reset. If
emergency telegrams and guarding are not evaluated, activation of auto-reset can lead to output and input
information being lost without that loss being noticed.
0: No auto-reset (default)
1: Auto-reset active
G: Device diagnostics
Reporting (by means of emergency telegram), that, for example
- a current input is open circuit (with diagnostics)
- 10 V exceeded at a 1-10V input terminal
0: Device diagnostics switched off
1: Device diagnostics active (default)
D: Diagnostic data
from digital terminals is included in the process image (e.g. KL2212). This flag is only evaluated when device
diagnostics is active (see above).
0: Do not display
1: Display (default)
Process image description
Table 0, register 3, contains the process image description, and is coded as follows (default value: 0x0903):
MSB LSB
0 0 0 0 k1 k0 f1 f0 0 0 a 0 d k 1 1
k0...k1: Reaction to K-Bus errors
0,2: Inputs remain unchanged (default = 2);
1: Set inputs to 0 (TxPDO with zeros is sent)
f0...f1: Reaction to fieldbus error
0: Stop the K-Bus cycles, watchdog in the terminals triggers, fault output values become active. The old
output values are initially set during a restart.
1: Set outputs to 0, then stop the K-Bus cycles (default). 2: Outputs remain unchanged.
a: Word alignment (of analog and special terminals)
0: No alignment (default)
1: Map data to word boundaries (process data always starts on an even address in the PDO)
d: Data format for complex terminals (analog and special terminals)
0: Intel format (default)