Beckhoff EL6751, Документация

Страница: 146 / 210

Parameterization and commissioning
EL6751 146 Version: 3.5
Index 8008-87E8 CAN RxPDO Configuration Node yyy
Index (hex) Name Meaning Data type Flags Default
8008+n*16:
0 CAN RxPDO Configu-
ration Node yyy This object contains the CAN RxPDO configuration of the
(n+1)
th
configured CANopen slave (0 <= n <127). RxP-
DOs 1-255 of a CANopen slave are configurable.
SubIndex 0 contains the maximum configured CAN Rx-
PDO number. If CAN RxPDOs are not present in be-
tween, 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 transmit-
ted (non-existent SubIndexes or gaps are thereby to be
omitted) and finally SubIndex 0 set to the correct value.
UINT8 RW
(8008+n*16)
:01 Configuration of CAN RxPDO 1 of the CANopen slave OCTET-
STRING[12] RW
Byte 0-3 COB-ID (bits 11-31 must be 0)
Byte 4 Transmission Type
Byte 5 Length of the data of the CAN RxPDO
Bytes 6-7 Inhibit time, is ignored by the EL6751
Bytes 8-9 Event Time
Bytes 10-11 Flags, must be 0
...
(8008+n*16)
:FF Configuration of CAN RxPDO 255 of the CANopen slave OCTET-
STRING[12]
RW
Index 9000-97D0 Detected CANopen Identification Node yyy
Index (hex) Name Meaning Data type Flags Default
9000+n*16:
0 Detected CANopen
Identification Node
yyy This object contains the InfoData on the (n+1)
th
found
CANopen slave, if the Scan Boxes command has been
executed following switching to PREOP.
UINT8 RO
(9000+n*16)
:01 Node Address Station address of the CANopen slave (same value as in
0xF040 [ } 150] :(n+1))
UINT16 RO
(9000+n*16)
:02 Device name Object 0x1008 of the CANopen slave STRING RO
(9000+n*16)
:04 Device type Object 0x1000 of the CANopen slave UINT32 RO
(9000+n*16)
:05 Vendor ID Object 0x1018:01 of the CANopen slave UINT32 RO
(9000+n*16)
:06 Product code Object 0x1018:02 of the CANopen slave UINT32 RO
(9000+n*16)
:07 Revision Object 0x1018:03 of the CANopen slave UINT32 RO
(9000+n*16)
:08 Serial number Object 0x1018:04 of the CANopen slave UINT32 RO
Index 9006-97D6 Detected TxPDO Configuration Node yyy
Index (hex) Name Meaning Data type Flags Default
9006+n*16:
0 Detected TxPDO
Configuration Node
yyy This object contains the InfoData on the CAN TxPDOs of
the (n+1)
th
found CANopen slave, if the Scan Boxes com-
mand has been executed following switching to PREOP.
UINT8 RO
(9006+n*16)
:01 CAN TxPDO 1 (meaning of the data is identical to object
0x8yy6 [ } 145] )
OCTET-
STRING[12] RO
...
(9006+n*16)
:FF CAN TxPDO 255 OCTET-
STRING[12] RO