Beckhoff CX8050, Documentation

Page: 124 / 169

CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN
124 Version: 1.4
Example
Activate PDOs for bus node number 1, set inhibit time to 10ms (=100 x 100µs), set transmission type for
TxPDOs to 255, and set transmission type for RxPDOs to 1. The following telegram must be sent:
Id=0x601 DLC=8; Data=23 00 55 00 64 00 FF 01
The node responds with the following telegram:
Id=0x601 DLC=8; Data=60 00 55 00 00 00 00 00
Identifiers used
The default identifier allocation for the additional PDOs leaves the pre-defined regions for guarding, SDOs
etc. free, assumes a maximum of 64 nodes in the network with PDO6 as the next node, and proceeds
according to the following scheme:
Object Function code Resulting COB ID (hex) Resulting COB ID (dec)
TxPDO5 1101 0x681 - 0x6BF 1665 - 1727
RxPDO5 1111 0x781 - 0x7BF 1921- 1983
TxPDO6 00111 0x1C1 - 0x1FF 449 - 511
RxPDO6 01001 0x241 - 0x27F 577 - 639
TxDPO7 01011 0x2C1 - 0x2FF 705 - 767
RxPDO7 01101 0x341 - 0x37F 833 - 895
TxPDO8 01111 0x3C1- 0x3FF 961 - 1023
RxPDO8 10001 0x441 - 0x47F 1089 - 1151
TxPDO9 10011 0x4C1 - 0x4FF 1217 - 1279
RxPDO9 10101 0x541 - 0x57F 1345 - 1407
TxDPO10 10111 0x5C1 - 0x5FF 1473 - 1535
RxPDO10 11001 0x641 - 0x67F 1601- 1663
TxPDO11 11011 0x6C1 - 0x6FF 1729 - 1791
RxPDO11 11101 0x741 - 0x77F 1857 - 1919
Attention
[Gefahrinformation hier einfügen!]
WarningEnsure that index 0x5500 is not used if Bus Couplers with more than 5 PDOs are
present in networks with node addresses > 64, otherwise identification overlaps can occur.
In that case, the PDO identifiers must be set individually.
For the sake of clarity, the default identifiers defined according to CANopen are also listed here:
Object Function code Resulting COB ID (hex) Resulting COB ID (dec)
Emergency 0001 0x81 - 0xBF [0xFF] 129 - 191 [255]
TxPDO1 0011 0x181 - 0x1BF [0x1FF] 385 - 447 [511]
RxPDO1 0100 0x201 - 0x23F [0x27F] 513 - 575 [639]
TxPDO2 0101 0x281 - 0x2BF [0x2FF] 641 - 676 [767]
RxPDO2 0110 0x301 - 0x33F [0x37F] 769 - 831 [895]
TxDPO3 0111 0x381 - 0x3BF [0x3FF] 897 - 959 [1023]
RxPDO3 1000 0x401 - 0x43F [0x47F] 1025 - 1087 [1151]
TxPDO4 1001 0x481 - 0x4BF [0x4FF] 1153 - 1215 [1279]
RxPDO4 1010 0x501 - 0x53F [0x57F] 1281- 1343 [1407]
SDO (Tx) 1011 0x581 - 0x5BF [0x5FF] 1409 - 1471 [1535]
SDO (Rx) 1100 0x601 - 0x63F [0x67F] 1537 - 1599 [1663]
Guarding / Heartbeat/
Bootup 1110 0x701 - 0x73F [0x77F] 1793 - 1855 [1919]
The identifiers that result from the DIP switch settings on the coupler are given, as are the identifier regions
for the node addresses 64...127 (not settable in Bus Couplers BK5110, BK5120 and LC5100) in square
brackets. Addresses 1…99 can be set for the Fieldbus Box modules and the BK515x Bus Couplers.