Beckhoff CX8050, Документация

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CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN
104 Version: 1.4
Mapping parameters for the 2nd RxPDO
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x1601 0 Number of
elements Unsigned8 rw N Depending
on type and
fittings Mapping
parameter
of the
second
receive
PDO; sub-
index 0:
number of
mapped
objects.
1 1
st
mapped
object
Unsigned32 rw N 0x6411011
0 1
st
mapped
application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
2 2
nd
mapped
object
Unsigned32 rw N 0x6411021
0 2
nd
mapped
application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
... ... ... ... ... ... ...
8 8
th
mapped
object
Unsigned32 rw N 0x0000000
0 8
th
mapped
application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
The second receive PDO (RxPDO2) is provided by default for analog outputs. Depending on the number of
outputs inserted, the necessary length of the PDO is automatically determined, and the corresponding
objects are mapped. Since the analog outputs are organised in words, the length of the PDO in bytes can be
found directly at sub-index 0.
A specific sequence must be observed in order to change the mapping (see object index 0x1600).