Beckhoff CX8050, Documentation

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Programming
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN 59 Version: 1.4
7.4.4 CX8051 Slave
7.4.4.1 Receiving SDO data in the PLC
SDO data that are unknown to the CANopen part of the software and cannot be processed automatically are
transferred to the PLC, where they are evaluated and answered via ADS notification.
To this end the ADS port must be enabled in the System Manager under CAN device (CX8051).
SDO Read request
Data to be read must be received with ADSREADIND and answered with ADSREADRES.
Input parameter ADSREADIND Description
NETID NetID of the CAN interface
Port number 0x1000
hex
+ node number
IDXGRP 16#800 SDO Index (IDXGRP.31 = ADS-
Notification)
IDXOFFS SDO sub index
LEN not required for reading
You now have to respond to the ADS indication with an ADS read response.
Input parameter ADSREADRES Description
NETID NetID of the CAN interface
Port number 0x1000
hex
+ node number
INVOKEID INVOKEID of the ADSREADIND block
RESULT error <> 0, error-free = 0
LEN Length of the data
SDO Write request
Data to be written must be received with ADSWRITEIND and answered with ADSWRITERES.