Beckhoff CX8050, Documentation

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CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN 93 Version: 1.4
If a guarding telegram is not received within the life time, the node enters the error state. If the life time factor
and/or guard time = 0, the node does not carry out any life guarding, but can itself be monitored by the
master (node guarding).
Guarding identifier
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x100 E 0 COB-ID
guarding
protocol Unsigned32 ro N 0x000007x
y, xy =
NodeID Identifier of
the
guarding
protocol
The guarding identifier is supported for reasons of compatibility. Changing the guarding identifier has no
longer been permitted since version 4 of CANopen.
Save parameters
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x1010 0 Store
Parameter Unsigned8 ro N 1 Number of
store
options
1 store all
parameters Unsigned32 rw N 1 Stores all
(storable)
parameters
By writing the string save in ASCII code (hexadecimal 0x65766173) to sub-index 1, the current parameters
are placed into non-volatile storage. (The byte sequence on the bus including the SDO protocol: 0x23 0x10
0x10 0x01 0x73 0x61 0x76 0x65).
The storage process takes about 3 seconds, and is confirmed, if successful, by the corresponding TxSDO
(0x60 in the first byte). Since the Bus Coupler is unable to send or receive any CAN telegrams during the
storage process, saving is only possible when the node is in the pre-operational state. It is recommended
that the entire network is placed into the pre-operational state before such storage. This avoids a buffer
overflow.
Data saved includes:
• The terminals currently inserted (the number of each terminal category)
• All PDO parameters (identifier, transmission type, inhibit time, mapping).
Note
[Gefahrinformation hier einfügen!]
NoteThe stored identifiers apply afterwards, not the default identifiers derived from the
node addresses. Changes to the DIP switch setting no longer affects the PDOs!
• All SYNC parameters
• All guarding parameters
• Limit values, delta values and interrupt enables for analog inputs
Parameters directly stored in the terminals by way of register communication are immediately stored there in
non-volatile form.