Beckhoff CX8050, Documentation

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CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN 123 Version: 1.4
Remove terminal write protection (CAN representation)
In order to remove the terminal's write protection, the following SDO telegram must thus be sent to the
coupler:
Id=600 + Node-ID DLC=8; Data=23 01 45 xx 35 12 1F 8y
where xx is the terminal's slot, and y indicates the channel.
An example of removing write protection
Suppose that a KL3202 Thermocouple Input Terminal is inserted into slot 5 of a BK5120 that has node
address 3, then the write protection for the first channel can be removed as follows:
Id=0x603 DLC=8; Data=23 01 45 05 35 12 1F 80
The following telegram is sent for the second channel:
Id=0x603 DLC=8; Data=23 01 45 05 35 12 1F 81
An example of writing register values
The type of thermocouple attached to the second channel of the KL3202 Terminal in slot 5 is now to be
changed to PT1000. For this purpose, the value 2 must be written into the upper 4 bits (the upper nibble) of
the feature register. It is assumed to that the default values are to be supplied for all the other bits in the
feature register. Once the write protection has been removed, SDO write access (download request) is used
to write the following 32 bit value into index 0x4501, sub-index 05: 81 20 21 06 (0x81=01+0x80;
0x20=32;0x2106 = register value).
The corresponding telegram on the bus looks like this:
Id=0x600+Node-ID DLC=8; Data=23 01 45 05 06 21 20 81
Activate PDOs
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x5500 0 Activate
PDO
Defaults Unsigned32 rw N 0x0000000
0 sets PDO
communica
tion
parameters
for PDOs
2...11
CANopen defines default identifiers for 4 transmit (Tx) and 2 receive (Rx) PDOs, all other PDOs being
initially deactivated after the nodes have started up. Index 0x5500 can activate all the PDOs that, in
accordance with the terminals inserted, are filled with process data (manufacturer-specific default mapping).
A manufacturer-specific default identifier allocation is carried out here for PDO5…11, while the transmission
type and a uniform inhibit time is set for PDO2…11. PDOs that do not have process data (and which are
thus superfluous in the present configuration) are not activated.
Note
[Gefahrinformation hier einfügen!]
NoteThis object can only be written in the pre-operational state!
The 32-bit value is used as follows:
MSB LSB
Transmission Type
RxPDOs Transmission Type
TxPDOs High byte inhibit time Low byte inhibit time
As is usual in CANopen, the LSB is transferred first, followed by the MSB.