Beckhoff EL6751, Documentation

Page: 154 / 210

Parameterization and commissioning
EL6751 154 Version: 3.5
Index F800 CAN Bus Parameter Set
Index (hex) Name Meaning Data type Flags Default
F800:0 CAN Bus Parameter
Set This object contains the CAN bus parameters. The object
is to be transmitted with Complete Access, or SubIndex 0
must first be set to 0, then the individual SubIndexes
transmitted (non-existent SubIndexes or gaps are
thereby to be omitted) and finally SubIndex 0 set to the
correct value. UINT16 RW 0x11 (17
dec
)
F800:01 Master Node Address Node address of the CANopen master that is used for
the Consumer Heartbeat
UINT8 RW 0x7F (127
dec
)
F800:02 Baud rate 0 1 Mbaud UINT8 RW
1 800 kbaud
2 500 kbaud
3 250 kbaud
4 125 kbaud
5 100 kbaud
6 50 kbaud
7 20 kbaud
8 10 kbaud
255 The baud rate is determined via the bus timing
register (SubIndex 5)
F800:03 COB ID SYNC COB ID of the SYNC message (default:0x80) UINT16 RW 0x80 (128
dec
)
F800:04 SYNC cycle time SYNC cycle time (must be an integer multiple of the
EtherCAT cycle time (
0x1C32 [ } 140] :02))
UINT32 RW
F800:05 Bus timing registers byte 0 BT0 register of the SJA1000 CAN controller UINT32 RW 0x00 (0
dec
)
byte 1 BT1 register of the SJA1000 CAN controller
byte 2 must be 0
byte 3 must be 0
F800:06 Slave Mode must be 0 (CANopen master) BOOLEAN RW 0x00 (0
dec
)
F800:07 PDO Align 8 Bytes 0 CAN PDOs are appended to the EtherCAT
process data in succession BOOLEAN RW 0x00 (0
dec
)
1 each CAN PDO occupies 8 bytes in the Ether-
CAT process data
F800:08 reserved for extensions BOOLEAN RW 0x00 (0
dec
)
F800:09 reserved for extensions 5-bit gap 0x00 (0
dec
)
F800:0E TxPDO Delay SYNC cycle time delay in % until the sending of the syn-
chronous RxPDOs begins UINT8 RW 0x1E (30
dec
)
F800:0F CAN message queue
size Depth of the low priority CAN Tx queue (for SDOs, Heart-
beat and Guarding, default: 100) UINT16 RW 0x64 (100
dec
)
F800:10 reserved for extensions UINT8 RW 0x00 (0
dec
)
F800:11 reserved for extensions UINT8 RW 0x00 (0
dec
)
F800:12 reserved for extensions 16-bit gap RW 0x00 (0
dec
)
F800:13 reserved for extensions 32-bit gap RW 0x00 (0
dec
)
F800:14 reserved for extensions 32-bit gap RW 0x00 (0
dec
)
F800:15 reserved for extensions 32-bit gap RW 0x00 (0
dec
)
F800:16 reserved for extensions 32-bit gap RW 0x00 (0
dec
)
F800:17 reserved for extensions 32-bit gap RW 0x00 (0
dec
)
F800:18 reserved for extensions 32-bit gap RW 0x00 (0
dec
)
5.5.2 CAN interface
5.5.2.1 CAN interface configuration
The CAN interface of the EL6751 is configured via the StartUp SDOs of the objects 0xF800, 0x8000 and
0x8001 (optional) in the PREOP state.