Fig. 30 Tree Representation - Beckhoff FC5101 Documentation

Parameterization and Commissioning
Length
The length of the PDO is based on the mapped variables and cannot therefore be edit here.
Event Time (FC510x and EL6751 only)
Enter the value for the Event Timer [} 49] in ms. For Send PDOs (here: RxPDOs, see above) an additional
sending of the PDO is triggered, for Receive PDOs (here: TxPDOs) the arrival of a PDO within the pre-set
value is monitored and the box state of the node is changed as appropriate. If 0, the parameter is not
transferred to the node.
TwinCAT creates corresponding inputs in the node object directory on the basis of the parameters entered
here. These are transferred via SDO at the system start. You can view the inputs at the SDO tab. If this
behavior is not required, you can deactivate "Auto Download of PDO Parameters" by selecting the checkbox
at the CAN node tab.
Deactivate checking of the PDO size
Checkbox for deactivation of the length check of the PDO size.
Tree Representation
Fig. 30: Tree Representation
TwinCAT firstly provides two send and receive PDOs, with Default Identifiers [} 61], for a general CANopen
node. Superfluous PDOs can be selected and removed.
TxPDOs are sent by the CANopen node and generally contain inputs. RxPDOs are received by the node,
i.e., sent by TwinCAT
Add variables to the PDOs by right clicking on "Inputs" and/or "Outputs" and selecting the corresponding
variable(s). If several variables of the same type are inserted with a single action, the offset within the PDO
will be created automatically. If variables are inserted one after another, you need to set the corresponding
offset (start address within the CAN telegram) for each variable.
Object dictionary entries in TwinCAT
TwinCAT places the PDOs in the displayed order according to the object dictionary entries in the
node. This way, for example, the PDO communication parameters of the third listed TxPDO are al-
ways written to index 0x1802 – independent of the designation of the PDO in the System Manager.
Thus, if only PDO1 and PDO3 are to be used, a PDO2 must also be entered – in this case without
assigning variables. PDOs without variables are not transmitted and also not expected.
34 Version: 2.0 FC5101 and FC5102