Beckhoff FC5101 Documentation page 99

List of illustrations
Fig. 1 FC5102 ........................................................................................................................................
Fig. 2 FC5102 panel ..............................................................................................................................
Fig. 3 FC510x ........................................................................................................................................
Fig. 4 CANopenLogo .............................................................................................................................
Fig. 5 CANopen Device Model ..............................................................................................................
Fig. 6 DIP switch ON = terminating resistor connected .........................................................................
Fig. 7 Termination of the bus with a 120 Ohm termination resistor .......................................................
Fig. 8 Insensitivity to incoming interference...........................................................................................
Fig. 9 Sample topology of drop lines .....................................................................................................
Fig. 10 Structure of CAN cable ZB5100 ..................................................................................................
Fig. 11 Structure of CAN/DeviceNet cable ZB5200.................................................................................
Fig. 12 BK5151, EL6751 pin assignment ................................................................................................
Fig. 13 FC51x2 ........................................................................................................................................
Fig. 14 BK51x0/BX5100 socket assignment............................................................................................
Fig. 15 LC5100 ........................................................................................................................................
Fig. 16 Pin assignment: M12 plug, fieldbus box ......................................................................................
Fig. 17 TwinCAT System Manager..........................................................................................................
Fig. 18 Context menu ..............................................................................................................................
Fig. 19 FC510x tab ..................................................................................................................................
Fig. 20 Synchronization Mode .................................................................................................................
Fig. 21 Synchronization Mode: Slave (sync master: balanced PC clock)................................................
Fig. 22 Synchronization Mode: Master ....................................................................................................
Fig. 23 Example.......................................................................................................................................
Fig. 24 Box States tab .............................................................................................................................
Fig. 25 FC510x - diagnostic variables .....................................................................................................
Fig. 26 BK51x0/IX-B510 tab ....................................................................................................................
Fig. 27 SDOs tab .....................................................................................................................................
Fig. 28 CAN Node tab..............................................................................................................................
Fig. 29 PDO tab .......................................................................................................................................
Fig. 30 Tree Representation ....................................................................................................................
Fig. 31 Context menu ..............................................................................................................................
Fig. 32 SDOs tab .....................................................................................................................................
Fig. 33 CANopen bootup state diagram ..................................................................................................
Fig. 34 Schematic diagram: "Guarding procedure" .................................................................................
Fig. 35 Schematic diagram: "Heartbeat procedure" ................................................................................
Fig. 36 Default identifier allocation: Master/Slave....................................................................................
Fig. 37 PDO linking: Peer to Peer............................................................................................................
Fig. 38 Diagram: CAN process data transmission...................................................................................
Fig. 39 Diagram: CAN "SYNC" telegram .................................................................................................
Fig. 40 Timing diagram: "Inhibit time" ......................................................................................................
Fig. 41 Time representation of the event timer ........................................................................................
Fig. 42 Mapping representation ...............................................................................................................
Fig. 43 SDO protocol: access to the object directory...............................................................................
Fig. 44 Edit SDO entry.............................................................................................................................
FC5101 and FC5102 Version: 2.0
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