Beckhoff EL6751 Documentation page 162

Parameterization and commissioning
Index 8000 CAN Interface configuration
Index (hex) Name
8000:0 CAN interface config-
uration
8000:01 Node address
8000:20 Flags
8000:21 Rx queue size
8000:22 Tx queue size
8000:23
8000:24
Index 8001 CAN Rx filter table
From firmware 17 of the EL6751, parameter 0x8001 must be written with valid values.
If all data are to be written into the CAN interface, the following must be entered:
For 11 bit and 29 bit identifiers:
0x8001: 01 00 00 00 00 00 00 FF FF FF 1F
For 11 bit identifiers
0x8001: 01 00 00 00 00 00 00 00 FF 07 00 00
Index (hex) Name
8001:0 CAN Rx filter table
8001:01 Identifier Area 1
...
8001:m Identifier Area m
162
Meaning
the CAN interface is configured with this object
must be set to 0
Bits 0-2 reserved for extensions, must be 0
Bit 3 0 = Standard Queue (11 Bit Identifier), 1 =
Extended Queue (29 Bit Identifier)
Bits 4-8 reserved for extensions, must be 0
Bit 9 0 = Buffered CAN Queue, 1 = Fast CAN
Queue (non buffered)
Bits 10-15 reserved for extensions, must be 0
Number of RX messages
Number of TX messages
reserved for extensions; must be 150
reserved for extensions; must be 150
Meaning
Number of valid filter sub index values (1..m, m = 255).
With this object, the CAN identifier ranges can be defined
for the identifiers CAN messages, which are entered in
the Rx queue and transferred with the EtherCAT input
data. This object must be configured from firmware 17.
Bytes 0-3: first identifier that is entered in the Rx queue
Bytes 4-7: last identifier that is entered in the Rx queue
Bytes 0-3: first identifier that is entered in the Rx queue
Bytes 4-7: last identifier that is entered in the Rx queue
Version: 3.5
Data type Flags Default
UINT8 RO 0x24 (36
UINT16 RW 0x0000 (0
UINT16 RW 0x0000 (0
UINT8 RW
UINT8 RW
UINT16 RW 0x0096
(150
dec
UINT16 RW 0x0096
(150
dec
Data type Flags Default
UINT8 RO
UINT64 RO
UINT64 RO
)
dec
)
dec
)
dec
)
)
EL6751