Beckhoff CX8050, Documentation

Page: 60 / 169

Programming
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN
60 Version: 1.4
Output parameter ADSWRITEIND Description
NETID NetID of the CAN interface
Port number 0x1000
hex
+ node number
IDXGRP 16#800 SDO Index (IDXGRP.31 = ADS
Notification)
IDXOFFS SDO Subindex
LEN Number of received data in bytes
You now have to respond to the ADS indication with an ADS write response.
Input parameter ADSWRITERES Description
NETID NetID of the CAN interface
Port number 0x1000
hex
+ node number
INVOKEID INVOKEID of the ADSWRITEIND block
RESULT error <> 0, error-free = 0
7.4.4.2 Switching slave node to PreOp from the PLC
The ADSWRTCTL block can be used to set individual CANopen nodes to pre-operational or operational
state. A fixed baud rate is required for this purpose.
Input parameters Description
NETID NetId of the CAN interface
Port number 0x1000
hex
+ NodeId (slave number)
ADSSTATE ADSSTATE_RUN
DEVSTATE 0 - Pre / 1 - Operational
LEN 0
SRCADDR 0