Beckhoff CX8050, Документация

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CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN
112 Version: 1.4
Mapping 2nd TxPDO
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x1A01 0 Number of
elements Unsigned8 rw N Depending
on type and
fittings Mapping
parameter
of the
second
transmit
PDO; sub-
index 0:
number of
mapped
objects.
1 1
st
mapped
object
Unsigned32 rw N 0x6401011
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 0x6401021
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 8
th
mapped
application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
The second transmit PDO (TxPDO2) is provided by default for analog input data. Depending on the number
of inputs inserted, the necessary length of the PDO is automatically determined, and the corresponding
objects are mapped. Since the analog inputs 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).