Beckhoff CX8050, Documentation

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Table of contents
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN
4 Version: 1.4
7.4.2 Sending any CAN message ............................................................................................. 55
7.4.3 CX8050 Master ................................................................................................................ 55
7.4.4 CX8051 Slave .................................................................................................................. 59
8 Ethernet X001 Interface........................................................................................................................... 61
8.1 System introduction ...................................................................................................................... 61
8.1.1
Ethernet............................................................................................................................ 61
8.1.2 Topology example............................................................................................................ 63
8.2 ADS-Communication .................................................................................................................... 64
9 CAN........................................................................................................................................................... 66
9.1 Introduction ................................................................................................................................... 66
9.2 Protocol description ...................................................................................................................... 67
9.2.1
Network Management ...................................................................................................... 67
9.2.2 Process Data Objects (PDO) ........................................................................................... 71
9.2.3 PDO Parameterization ..................................................................................................... 78
9.2.4 Service Data Objects (SDO) ............................................................................................ 80
9.3 Objekt dictionary ........................................................................................................................... 83
9.3.1
Object Directory - Structure.............................................................................................. 83
9.3.2 Object List ........................................................................................................................ 84
9.3.3 Objects and Data ............................................................................................................. 89
10 Error handling and siagosis ................................................................................................................. 130
10.1 LED displays ............................................................................................................................... 130
11 Appendix ................................................................................................................................................ 134
11.1 First steps ................................................................................................................................... 134
11.2 Image Update ............................................................................................................................. 139
11.3 Certification ................................................................................................................................. 141
11.3.1 Ex ................................................................................................................................... 141
11.3.2 FCC................................................................................................................................ 142
11.3.3 UL................................................................................................................................... 142
11.4 CAN Identifier List ....................................................................................................................... 143
11.5 Bibliography ................................................................................................................................ 167
11.6 List of Abbreviations ................................................................................................................... 168
11.7 Support and Service ................................................................................................................... 169