Beckhoff CX1500-B310, Руководство пользователя

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Product overview
CX1500-M510, CX1500-B510 111 Version: 1.0
Peer-to-peer objects
Object Function Function code Resulting COB ID Object for
communica-
tion Parame-
ter / mapping
hex dec
Emergency Status / error 1 0x81 - 0xFF 129 - 255 - / -
PDO1 (tx) dig. inputs 11 0x181 - 0x1FF 385 - 511
0x1800 [
}
22] /
0x1A00 [
}
22]
PDO1 (rx) digital outputs 100 0x201 - 0x27F 513 - 639
0x1400 [
}
22] /
0x1600 [
}
22]
PDO2 (tx) analog inputs 101 0x281 - 0x2FF 641 - 767
0x1801 [
}
22] /
0x1A01 [
}
22]
PDO2 (rx) analog outputs 110 0x301 - 0x37F 769 - 895
0x1401 [ } 22] /
0x1601 [
}
22]
PDO3 (tx) analog inputs* 111 0x381 - 0x3FF 897 - 1023
0x1802 [
}
22] /
0x1A02 [
}
22]
PDO3 (rx) analog outputs* 1000 0x401 - 0x47F 1025 - 1151
0x1402 [ } 22] /
0x1602 [ } 22]
PDO4 (tx) analog inputs* 1001 0x481 - 0x4FF 1153 - 1279
0x1803 [
}
22] /
0x1A03 [
}
22]
PDO4 (rx) analog outputs* 1010 0x501 - 0x57F 1281 - 1407
0x1403 [ } 22] /
0x1603 [ } 22]
SDO (tx) Parameters 1011 0x581 - 0x5FF 1409 - 1535 - / -
SDO (rx) Parameters 1100 0x601 - 0x67F 1537 - 1663 - / -
Guarding Life/node
guarding,
Heartbeat,
Boot-up
message 1110 0x701 - 0x77F 1793 - 1919
( 0x100C [
}
22] ,
0x100D [
}
22] ,
0x100E [ } 22] ,
0x1016 [ } 22] ,
0x1017 [ } 22] )
*) The Beckhoff Default Mapping [
}
63] applies to PDO 3 + 4. In most configurations, PDOs 3 and 4 contain
data related to analog inputs and outputs, but there can also be "excess" data from digital I/Os, or data from
special terminals. Details may be found in the section covering
PDO Mapping [
}
15] .
Up until version 3 of the CANopen specification, default identifiers were assigned to 2 PDOs at a time. The
BECKHOFF Bus Couplers up to firmware status BA correspond to this issue of the specification. After
firmware status C0 (CANopen version 4), default identifiers are provided for up to 4 PDOs.
Manufacture-Specific Default Identifiers for Additional PDOs
Default Identifiers for Additional PDOs
Identifiers are not assigned to the additional PDOs that are filled by the Beckhoff Bus Couplers in
accordance with the standard scheme. The user must enter an identifier for these PDOs in the object
directory. It is easier to activate the occupied PDOs by means of object
0x5500 [
}
22] .
This entry in the object directory extends the default identifier allocation up to 11 PDOs. This creates the
following identifiers: