Beckhoff CX8050, Документация

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CAN
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN 91 Version: 1.4
If there has not been an error since power up, then object 0x1003 only consists of sub-index 0 with a 0
entered into it. The error store is cleared by a reset or a power cycle.
As is usual in CANopen, the LSB is transferred first, followed by the MSB.
Sync Identifier
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x1005 0 COB-ID
Sync
Message Unsigned32 rw N 0x8000008
0 Identifier of
the SYNC
message
The bottom 11 bits of the 32 bit value contain the identifier (0x80=128 dec). Bit 30 indicates whether the
device sends the SYNC telegram (1) or not (0). The CANopen I/O devices receive the SYNC telegram, and
accordingly bit 30=0. For reasons of backwards compatibility, bit 31 has no significance.
Sync Interval
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x1006 0 Communica
tion cycle
period Unsigned32 rw N 0x0000000
0 Length of
the SYNC
interval in
µs.
If a value other than zero is entered here, the bus node will go into the fault state if, during synchronous PDO
operation, no SYNC telegram is received within the watchdog time. The watchdog time corresponds here to
1.5 times the communication cycle period that has been set - the planned SYNC interval can therefore be
entered.
The I/O update is carried out at the Beckhoff CANopen bus nodes immediately after reception of the SYNC
telegram, provided the following conditions are satisfied:
- Firmware status C0 or above (CANopen Version 4.01 or higher).
- All PDOs that have data are set to synchronous communication (0..240).
- The sync interval has been entered in object 0x1006 and (sync interval x lowest PDO transmission type) is
less than 90ms.
The modules are then synchronised throughout.
Device name
Index Sub-index Name Type Attribute Mapping Default
value Meaning
0x1008 0 Manufactur
er Device
Name Visible
String ro N BK51x0,
LC5100,
IPxxxx-
B510 or
ILxxxx-
B510
Device
name of the
bus node
Since the returned value is longer than 4 bytes, the segmented SDO protocol is used for transmission.