Beckhoff CX8050, Documentation

Page: 126 / 169

CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN
126 Version: 1.4
Example of data assignment
Application example
The value contained in a fast counter input is only to be transmitted when bits in the status word (the latch
input, for instance) have changed. This requires the 32 bit counter value to be masked out (zeroed) in the
interrupt mask. The status is located in byte 0, while the counter value is, by default, contained in bytes or
1..4 of the corresponding PDOs (TxPDO3 in this example, because < 65 digital and < 5 analog inputs are
present).
This means that index 0x6126, sub-index5 must receive the value 0x0000 00FF and that sub-index6 must
have 0xFFFF FF00 written into it.
The corresponding SDOs therefore appear as follows:
11 bit
identifier 8 bytes of user data
0x600+
node ID 0x22 0x26 0x61 0x05 0xFF 0x00 0x00 0x00
11 bit
identifier 8 bytes of user data
0x600+
node ID 0x22 0x26 0x61 0x06 0x00 0xFF 0xFF 0xFF
Digital outputs
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x6200 0 Number of
elements Unsigned8 ro N Depending
on type and
fittings Number of
available
digital 8-bit
output data
blocks
1 1
st
input
block
Unsigned8 rw Y 0x00 1
st
output
channel
... ... ... ... ... ... ...
0XFE 254
th
input
block
Unsigned8 rw Y 0x00 254
th
output
channel