Beckhoff CX8050, Документация

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CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN 103 Version: 1.4
Mapping parameters for the 1st RxPDO
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x1600 0 Number of
elements Unsigned8 rw N Depending
on type and
fittings Mapping
parameter
of the first
receive
PDO; sub-
index 0:
number of
mapped
objects.
1 1
st
mapped
object
Unsigned32 rw N 0x6200010
8 1
st
mapped
application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
2 2
nd
mapped
object
Unsigned32 rw N 0x6200020
8 2
nd
mapped
application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
... ... ... ... ... ... ...
8 8
th
mapped
object
Unsigned32 rw N 0x6200080
8 8
th
mapped
application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
The first receive PDO (RxPDO1) is provided by default for digital output data. Depending on the number of
outputs inserted, the necessary length of the PDO is automatically determined, and the corresponding
objects are mapped. Since the digital outputs are organised in bytes, the length of the PDO in bytes can be
found directly at sub-index 0.
Changes to the mapping
The following sequence must be observed in order to change the mapping (specified as from CANopen,
version 4):
1. Delete PDO (set bit 31 in the identifier entry (sub-index 1) of the communication parameters to 1)
2. Deactivate mapping (set sub-index 0 of the mapping entry to 0)
3. Change mapping entries (sub-indices 1...8)
4. Activate mapping (set sub-index 0 of the mapping entry to the correct number of mapped objects)
5. Create PDO (set bit 31 in the identifier entry (sub-index 1) of the communication parameters to 0)