Beckhoff EL6751, Документация

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Parameterization and commissioning
EL6751 143 Version: 3.5
Index 8000-87E0 Communication Parameter Node yyy
Index (hex) Name Meaning Data type Flags Default
8000+n*16:
0 Communication Pa-
rameter Node yyy This object contains the CAN configuration of the (n+1)
th
configured CANopen slave (0 <= n <127). The object is
to be transmitted with Complete Access, or SubIndex 0
must first be set to 0, then the individual SubIndexes
transmitted (non-existent SubIndexes or gaps are
thereby to be omitted) and finally SubIndex 0 set to the
correct value.
UINT8 RW 0x2E (46
dec
)
(8000+n*16)
:01 Node address CANopen node address of the CANopen slave, permitted
values: 1-127; the entry
0xF020 [ } 150] :(n+1) is hence
automatically updated
UINT16 RW
(8000+n*16)
:04 Device type Object 0x1000 of the CANopen slave; this value is
checked at the CAN boot-up, provided that the check is
not disabled via the flags (SubIndex 20 of this object) UINT32 RW
(8000+n*16)
:05 Vendor ID Object 0x1018:01 of the CANopen slave; this value is
checked at the boot-up if not equal to 0 UINT32 RW
(8000+n*16)
:06 Product code Object 0x1018:02 of the CANopen slave; this value is
checked at the boot-up if not equal to 0 UINT32 RW
(8000+n*16)
:07 Revision Object 0x1018:03 of the CANopen slave; this value is
checked at the boot-up if not equal to 0 UINT32 RW
(8000+n*16)
:08 Serial number Object 0x1018:04 of the CANopen slave; this value is
checked at the boot-up if not equal to 0 UINT32 RW
(8000+n*16)
:1D Network flags reserved for AMS via CANopen UINT16 RW 0x0000 (0
dec
)
(8000+n*16)
:1E Network port reserved for AMS via CANopen UINT16 RW 0x0000 (0
dec
)
(8000+n*16)
:1F Network segment ad-
dress reserved for AMS via CANopen OCTET-
STRING[6] RW 0x00, 0x00,
0x00, 0x00,
0x00, 0x00
(8000+n*16)
:20 Flags Bit 0 CAN Layer 2-Node: only asynchronous On-
Change CAN PDOs are exchanged with the
slave UINT16 RW 0x0000 (0
dec
)
Bit 1 Automatic sending of the CAN PDO commu-
nication parameters is switched off during the
boot-up
Bit 2 reserved, must be 0
Bit 3 reserved, must be 0
Bit 4 Guarding is used instead of Heartbeat
Bit 5 If not all configured CAN TxPDOs have been
received 10 s after the start of the CANopen
slave, the CANopen slave is rebooted
Bit 6 The checking of object 0x1000 during the
CAN boot-up is switched off
Bit 7 The writing of object 0x1006 during the CAN
boot-up is switched off
Bit 8 The automatic start of the CANopen slave af-
ter completion of the CAN boot-up is
switched off
Bit 9 reserved, must be 0
Bit 10 reserved, must be 0
Bit 11 reserved, must be 0
Bit 12 reserved, must be 0
Bit 13 reserved, must be 0
Bit 14 reserved, must be 0
Bit 15 reserved, must be 0
(8000+n*16)
:21 Guarding time Guarding time (object 0x100C or 0x1017) for Guarding or
Heartbeat in accordance with bit 4 of the flags in
SubIndex 0x20) UINT16 RW
(8000+n*16)
:22 Life time factor Life time factor (object 0x100D) for Guarding or Life time
factor*Guarding time (object 0x1016:01) for Heartbeat (in
accordance with bit 4 of the flags in SubIndex 0x20) UINT16 RW
(8000+n*16)
:23 SDO timeout Timeout for the transmission of CAN SDOs to the
CANopen slave (in ms, 0 corresponds to 2000 ms) UINT16 RW 0x07D0
(2000
dec
)