Beckhoff CX-B510 Series, Руководство пользователя

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Parameterization and commissioning
CXxxxx-M510/B510 63 Version: 1.0
5.3.5 Creating further PDOs
The CANopen slave can exchange up to 16 PDOs (each with 8 bytes of process data) with the CANopen
master in input and output direction. By default 2 PDOs are created in Tx and Rx direction.
Here we shown how to create further PDOs for a CANopen slave.
Prerequisites for this step:
• A CANopen slave added in the tree view.
Create the PDOs as follows:
1. Right-click on a CANopen slave in the tree view.
2. In the context menu, click on Insert TxPDO or Insert RxPDO in order to create PDOs in Tx or Rx
direction.
The new TxPDOs or RxPDOs are added in the tree view below the already created PDOs and numbered
consecutively.
Note From the fifth PDO in Tx or Rx direction the COB ID is no longer entered automatically (see the
following diagram).
3. From the fifth PDO in Tx or Rx direction click on the PDO tab.
4. Enter the required value in the COB ID field.
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You have successfully created further PDOs; in the next step you can create variables for the data
exchange under the PDOs.