Beckhoff EL6751 Documentation page 82

Parameterization and commissioning
Fig. 97: Dialog „Add CAN Filter"
An "Enable Filter" defines an area or a mask of COB-ID that is received; a "Disable Filter" defines an area or
a mask of COB-ID that is not received.
Sample code: Sending messages from the PLC
if Outputs.TxCounter = Inputs.TxCounter then
for i=0 to NumberOfMessagesToSend do
Outputs.TxMessage[i] = MessageToSend[i];
End_for
Outputs.NoOfTxMessages = NumberOfMessagesToSend;
Outputs.TxCounter := Outputs.TxCounter + 1;
end_if
Sample code: Receiving messages from the PLC
if Outputs.RxCounter <> Inputs.RxCounter then
for I := 0 to (Inputs.NoOfRxMessages-1) do
MessageReceived[i] := Inputs.RxMessage [i];
End_for
Outputs.RxCounter := Outputs.RxCounter+1;
end_if
EL6751-0010 - CANopen slave terminal
In the system configuration tree structure right-click on I/O Devices and "Append Device" to open the
selection list of supported fieldbus cards:
82 Version: 3.5 EL6751