Beckhoff CX8050, Documentation

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Programming
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN 55 Version: 1.4
7.4.2 Sending any CAN message
Sending any CAN message
The ADSWRITE command can be used to send any CAN message.
Input parameters Description
NETID NetId of the CAN interface
Port number 200
IDXGRP 16#0000F921
IDXOFFS 0
LEN 11 bytes
SRCADDR Pointer to an 11 byte ARRAY
Table 3: Structure of the 11 byte CAN data
Byte Description Example Node 7 SDO 0x607
Len 8 Download Request 0x2100
(Index)
Sub Index 1 - Value "1"
1 COB-ID LowByte 0x06 (SDO Low Byte)
2 COB-ID HighByte 0x07 (SDO High Byte)
3 LEN (length) 0x08 (LEN, may be 5 in this case)
4 Data[1] 0x22 (Download Request)
5 Data[2] 0x00 (Index Low Byte)
6 Data[3] 0x21 (Index High Byte)
7 Data[4] 0x01 (Sub Index)
8 Data[5] 0x01 (Value "1")
9 Data[6] 0x00
10 Data[7] 0x00
11 Data[8] 0x00
7.4.3 CX8050 Master
7.4.3.1 SDO communication from the PLC
ADS blocks are used for SDO communication from the PLC. These blocks can be used for sending SDO
telegrams and receiving the response of the slave (ADSWRITE / ADSREAD).
Input parameters Description
NETID ADS NetID of the CAN interface
Port number 0x1000
hex
+ NodeId (slave number)
IDXGRP SDO Index
IDXOFFS SDO Subindex
LEN Length of SDO data (1...4)
Setting individual CANopen nodes to pre-operational or operational state
The ADSWRTCTL block can be used to set individual CANopen nodes to pre-operational or operational
state.