Beckhoff EL6751 Documentation page 99

SDO Explanation
Upload PDO ID If an SDO abort occurred
(0x1400+y:01 or during the PDO COB-ID
0x1800+y:01) download, the system tries
to read the entry.
Download PDO The transmission type is
Transmission described for each
Type configured PDO
(0x1400+y:02 or
0x1800+y:02)
Upload PDO If an SDO abort occurred
Transmission during the PDO
Type transmission type
(0x1400+y:02 or download, the system tries
0x1800+y:02) to read the entry.
Download PDO The inhibit time is written to
Inhibit Time for each configured PDO.
(0x1400+y:03 or
0x1800+y:03)
Upload PDO If an SDO abort occurred
Inhibit Time during the PDO inhibit time
(0x1400+y:03 or download, the system tries
0x1800+y:03) to read the entry.
Download PDO The event time is written to
Event Time for each configured PDO.
(0x1400+y:05 or
0x1800+y:05)
Upload PDO If an SDO abort occurred
Event Time during the PDO event time
(0x1400+y:05 or download, the system tries
0x1800+y:05) to read the entry.
Download The guard time is written to
Producer object 0x1017 of the
Heartbeat 0x1017 CANopen slave.
EL6751
Parameterization and commissioning
Option
This SDO is only active if a fault occurred in the download
of the respective PDO COB ID. If the SDO is active, the
startup is aborted if a value other than the configured
value is read.
These SDOs are active by default for general CANopen
slaves [} 88] and can be switched off via the CAN node
[} 88] tab. For Bus Couplers the transmission type is only
distinguished for digital (PDO 1) and analog (PDO 2)
terminals, if object 0x5500 is written to on startup.
Therefore, for BK51x0 [} 86] Bus Couplers these SDOs
are only active for PDOs 1 and 2.
This SDO is only active if a fault occurred in the download
of the respective transmission type PDO. If the SDO is
active, the startup is aborted if a value other than the
configured value is read.
These SDOs are active for general CANopen slaves
[} 88], if an inhibit time greater than 0 is configured on the
PDO [} 88] tab of the respective PDO. For Bus Couplers
there is only one inhibit time for all PDOs, if the PDOs are
configured via the object 0x5500. The SDOs are active if
this inhibit time on tab BK51x0 [} 86] is greater than 0.
This SDO is only active if a fault occurred in the download
of the respective PDO inhibit time. If the SDO is active,
the startup is aborted if a value other than the configured
value is read.
These SDOs are active for general CANopen slaves
[} 88], if an event time greater than 0 is configured on the
PDO [} 88] tab of the respective PDO. For Bus Couplers
there is only one event time for all PDOs, if the PDOs are
configured via the object 0x5500. The SDOs are active if
this event time on tab "BK51x0 [} 86]" is greater than 0.
This SDO is only active if a fault occurred in the download
of the respective PDO event time. If the SDO is active,
the startup is aborted if a value other than the configured
value is read.
This SDO is active if the guard time and the life time
factor on the tabs BK51x0 [} 86] or CAN node [} 88] are
not equal 0. If the SDO is active, the startup is aborted if
an SDO timeout has occurred.
Version: 3.5 99