Beckhoff CX8050, Documentation

Page: 98 / 169

CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN
98 Version: 1.4
Communication parameters for the 1st RxPDO
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x1400 0 Number of
elements Unsigned8 ro N 5 Communica
tion
parameters
for the first
receive
PDO. Sub-
index 0:
number of
following
parameters
1 COB-ID Unsigned32 rw N 0x000002x
y,
xy=Node-ID COB-ID
(Communic
ation Object
Identifier)
RxPDO1
2 Transmissi
on Type Unsigned8 rw N 255 Transmissi
on type of
the PDO
3 Inhibit Time Unsigned16 rw N 0 Present for
reasons of
backwards
compatibilit
y, but not
used in the
RxPDO.
4 CMS
Priority
Group Unsigned8 rw N - Present for
reasons of
backwards
compatibilit
y, but not
used.
5 Event
Timer Unsigned16 rw N 0 Event-
Timer.
Watchdog
time
defined for
monitoring
reception of
the PDO.
Sub-index 1 (COB-ID): The bottom 11 bits of the 32 bit value (bits 0-10) contain the CAN identifier. The MSB
(bit 31) indicates whether the PDO exists currently (0) or not (1). Bit 30 indicates whether an RTR access to
this PDO is permissible (0) or not (1). Changing the identifier (bits 0-10) is not allowed while the object exists
(bit 31=0). Sub-index 2 contains the type of the transmission (see introduction to PDOs).