Beckhoff CX8050, Documentation

Page: 125 / 169

CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN 125 Version: 1.4
The appendix [ } 143] contains a tabular summary of all the identifiers.
Digital inputs
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x6000 0 Number of
elements Unsigned8 ro N Depending
on type and
fittings Number of
available
digital 8-bit
input data
blocks
1 1
st
input
block
Unsigned8 ro Y 0x00 1
st
input
channel
... ... ... ... ... ... ...
0XFE 254
th
input
block
Unsigned8 ro Y 0x00 254
th
input
channel
Interrupt mask
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x6126 0 Number of
elements Unsigned8 ro N Depending
on type The
number of
32-bit
interrupt
masks = 2
x the
number of
TxDPOs
1 IR-Mask0
TxPDO1 Unsigned32 rw N 0xFFFFFFF
F IR-mask
bytes 0...3
TxPDO1
2 IR-Mask1
TxPDO1 Unsigned32 rw N 0xFFFFFFF
F IR-mask
bytes 4...7
TxPDO1
3 IR-Mask0
TxPDO2 Unsigned32 rw N 0xFFFFFFF
F IR-mask
bytes 0...3
TxPDO2
... ... ... ... ... ... ...
0x20 IR-Mask1
TxPDO16 Unsigned32 rw N 0xFFFFFFF
F IR-mask
bytes 4...7
TxPDO16
By default, every change in the value in an event-driven PDO causes a telegram to be sent. The interrupt
mask makes it possible to determine which data changes are evaluated for this purpose. By clearing the
appropriate ranges within the PDOs they are masked out for event-driving purposes (interrupt control). The
interrupt mask does not just govern all the PDOs with digital inputs, but all the TxPDOs that are present. If
the TxPDOs are shorter than 8 bytes, then the superfluous part of the IR mask is not evaluated.
The interrupt mask only has an effect on TxPDOs with transmission types 254 and 255. It is not stored in the
device (not even through object 0x1010). Changes to the mask at runtime (when the status is operational)
are possible, and are evaluated starting from the next change of input data.
The interrupt mask for TxPDOs with analog input data is not evaluated if either limit values (0x6424, 0x6425)
or the delta function (0x6426) have been activated for the inputs.
This entry has been implemented in firmware C3 and above.