Beckhoff EL6751, Документация

Страница: 145 / 210

Parameterization and commissioning
EL6751 145 Version: 3.5
Index 8003-87E3 CAN SDO Init Cmds Node yyy
Index (hex) Name Meaning Data type Flags Default
8003+n*16:
0 CAN SDO Init Cmds
Node yyy This object contains the CAN StartUp SDOs of the (n+1)
th
configured CANopen slave (0 <= n <127), which are sent
to the CANopen slave after the boot-up and before the
start of the CANopen slave. Up to 255 StartUp SDOs can
be configured per CANopen slave. SubIndex 0 contains
the number of configured CAN StartUp SDOs. The object
is to be transmitted with Complete Access, or SubIndex 0
must first be set to 0, then the individual SubIndexes
transmitted and finally SubIndex 0 set to the correct
value.
UINT8 RW
(8003+n*16)
:01 first CAN StartUp SDO OCTET-
STRING RW
Bytes 0-1 Index of the StartUp SDO
Byte 2 SubIndex of the StartUp SDO
Bytes 3-4 Length of the following data of the StartUp
SDO
from byte
5 Data of the StartUp SDO
...
(8003+n*16)
:FF 255. CAN StartUp SDO
Index 8006-87E6 CAN TxPDO Configuration Node yyy
Index (hex) Name Meaning Data type Flags Default
8006+n*16:
0 CAN TxPDO
Configuration
Node yyy This object contains the CAN TxPDO configuration of the (n
+1)
th configured CANopen slave (0 <= n <127). TxPDOs 1-255
of a CANopen slave are configurable. SubIndex 0 contains the
maximum configured CAN TxPDO number. If CAN TxPDOs
are not present in between, the SubIndex is to be omitted or, in
the case of Complete Access, filled with zeros. 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 fi-
nally SubIndex 0 set to the correct value.
UINT8 RW
(8006+n*16)
:01 Configuration of CAN TxPDO 1 of the CANopen slave OCTET-
STRING RW
Bytes 0-3 COB-ID (bits 11-31 must be 0)
Byte 4 Transmission Type
Byte 5 Length of the data of the CAN TxPDO
Bytes 6-7 Inhibit Time
Bytes 8-9 Event Time
Bytes 10-11 Flags
Bit 0
CAN TxPDO toggle (entry 0x6004
[ } 142] +(n*16):01) is mapped into
EtherCAT TxPDO 137/138 (index
0x1A88 [
}
138] /0x1A89)
Bit 1-9 reserved for extensions; must be 0
Bit 10 Length checking is switched off
Bits 11-15 reserved for extensions; must be 0
...
(8006+n*16)
:FF Configuration of CAN TxPDO 255 of the CANopen slave