Beckhoff FC5101, Documentation

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Bus Trace function
FC5101 and FC5102 74 Version: 2.0
7 Bus Trace function
7.1 FC510x as bus monitor
From firmware version 1.00 and TwinCAT 2.8 (build 740), the FC5101 or FC5102 can also be used as
CANopen monitor instead of master or slave.
For example, the second channel of the FC5102 can be used for this purpose, in which case the first
channel continues to function as CANopen master or slave, or vice versa. In such a case, both channels
must be connected to the same CAN network. (Data exchange within the card is not provided, since this
cannot take place in a non-reactive manner).
The telegrams recorded by the FC510x are temporarily stored in a ring buffer by the task linked with the
FC510x; the stored telegrams can then be accessed by ADS. Beckhoff offers a CANopen monitoring
program (CANMON) with
filter [
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76] and trigger [
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76] options as freeware (see Download section at
http://www.beckhoff.com ).
Inserting the FC510x as a CANopen Monitor
In the Append Device context menu: insert CANopen monitor
Fig. 53: Inserting the FC510x as a CANopen Monitor
After this it is necessary to select the appropriate channel (PCI memory address).
Linking the FC510x with a task
The monitor data is accessed at the start of a task from real-time TwinCAT. For this purpose it is necessary
to create an additional task in the System Manager, containing at least one UINT16 input variable that is to
be linked to one of the variables in the FC510x.