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Beckhoff CX8050 Documentation

Beckhoff CX8050 Documentation

Embedded-pcs for canopen and can
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Documentation for
CX8050, CX8051 - Embedded-PCs for
CANopen and CAN
CX8050: CANopen-Master oder CAN-Master CX8051:
CANopen-Slave
Version:
Date:
1.4
2018-02-09

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Summary of Contents for Beckhoff CX8050

  • Page 1 Documentation for CX8050, CX8051 - Embedded-PCs for CANopen and CAN CX8050: CANopen-Master oder CAN-Master CX8051: CANopen-Slave Version: Date: 2018-02-09...

  • Page 3: Table Of Contents

    Safety instructions ..........................  9 3 Transport and storage .......................... 11 4 Product overview............................. 12 CX80xx - System overview...................... 12 CX8050, CX8051 - Introduction.................... 14 Technical data .......................... 16 Technical data - CAN........................ 17 CX80xx - MicroSD cards ...................... 18 5 Mounting and wiring .......................... 19 Mounting ............................
  • Page 4 Certification.......................... 141 11.3.1 Ex ........................... 141 11.3.2 FCC.......................... 142 11.3.3 UL........................... 142 11.4 CAN Identifier List........................ 143 11.5 Bibliography .......................... 167 11.6 List of Abbreviations ........................ 168 11.7 Support and Service ........................ 169 Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 5: Notes On The Documentation

    EP0851348, US6167425 with corresponding applications or registrations in various other countries. ® EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Copyright © Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited.

  • Page 6: Explanation Of Symbols

    Note this warning. Risk of damage to the environment and equipment. Attention Symbols indicating further information or tips: Tip or pointer This symbol indicates information that contributes to better understanding. Note Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 7: Documentation Issue Status

    • Warnings for Ex area revised • Chapter “IECEx” added CX8050 image version Firmware Description Build 2241 • First version CX8051 image version Firmware Description Build 2241 • First version CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 8: For Your Safety

    Beckhoff Automation GmbH & Co. In addition, the following actions are excluded from the liability of Beckhoff Automation GmbH & Co. KG: • Failure to comply with this documentation.

  • Page 9: Staff Qualification

    For your safety Staff qualification All operations involving Beckhoff software and hardware may only be carried out by qualified personnel with knowledge of control and automation engineering. The qualified personnel must have knowledge of the administration of the Embedded PC and the associated network.
  • Page 10 • The sensitivity of an Embedded PC against malicious software increases with the number of installed and active software. • Uninstall or disable unnecessary software. Further information about the safe handling of networks and software can be found in the Beckhoff Information System: http://infosys.beckhoff.com...

  • Page 11: Transport And Storage

    Embedded PC in a dry environment at a temperature between 0 °C and 30 °C. The preset date and time are lost if the battery is removed. • Store the Embedded PC in the original packaging. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 12: Product Overview

    Microsoft Windows CE is used as the operating system. In the absence of a monitor port, the operating system and its "virtual" display can only be accessed via the network. As for all other Beckhoff devices, the TwinCAT software is used for system configuration and the programming of the PLC functionality. The CX80xx target device features a pre-installed TwinCAT PLC runtime environment.
  • Page 13 The CX80xx controller is programmed according to the high-performance IEC 61131-3 standard. As with all other Beckhoff controllers, the TwinCAT automation software is the basis for parameterization and programming. Users therefore have the familiar TwinCAT tools available, e.g. PLC programming interface, System Manager and TwinCAT Scope.

  • Page 14: Cx8050, Cx8051 - Introduction

    CX8050 The CX8050 is a controller with a CANopen master interface. Apart from functioning as a CANopen master, CAN-Layer-2 communication is alternatively also possible. Alternatively K-bus or E-bus terminals can be series-connected; the CX8050 automatically detects which system is connected during the start-up phase.
  • Page 15 The CX8051 offers automatic baud rate detection. Alternatively K-bus or E-bus terminals can be series-connected; the CX8051 automatically detects which system is connected during the start-up phase. The controller is programmed via the Ethernet interface. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 16: Technical Data

    See chapter Installation positions Relative humidity 95 % no condensation Vibration / shock resistance Conforms to EN 60068-2-6 / EN 60068-2-27 EMC immunity/emission Conforms to EN 61000-6-2 / EN 61000-6-4 Protection class IP20 Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 17: Technical Data - Can

    ADS Interface Yes (only via Ethernet) Services CAN Layer 2 CAN 2.0A after CANopen CAN 2.0B Diagnosis/Status/Alarm TC LED Yes, green/red BF LED Yes, green/red DIA LED Yes, green/red diagnostic notice CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 18: Cx80Xx - Microsd Cards

    In the basic version the CX80xx contains a MicroSD card with 512 MB. You can order it as an option with larger cards (up to 8 GB). The cards employed are SLC memory with extended temperature range for industrial applications. Use exclusively MicroSD cards approved by Beckhoff. Example of a MicroSD card: Order identifier...

  • Page 19: Mounting And Wiring

    Dimensions The following drawings show the dimensions of the CX80xx Embedded PCs. Dimensions     Drawings in various CAD formats can be found at: http://www.beckhoff.de/german/download/cx1000.htm 5.1.2 Installation on mounting rails Snapping onto the mounting rail The CX80xx can simply be snapped onto the mounting rail. To this end simply position the block on the mounting rail and push it slightly until it engages on the right-hand side.
  • Page 20 Mounting and wiring Avoid damage! Do not force the module or apply excessive pressure! Attention Permissible installation positions and minimum distances Installation positions Installation position up to 55 °C Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 21 This ensures optimum air flow. Installation positions with reduced temperature range up to 45 °C Other installation positions are permitted with a temperature range up to 45 °C. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 22: Wiring

    Embedded PC and connect or dis- connect Bus Terminals. This power supply unit is equipped with an I/O interface, which permits connection of the Beckhoff Bus Terminals. The power is supplied via the upper spring-loaded terminals with the designation 24 V and 0 V.
  • Page 23 The left LED (Us) indicates the CPU supply. The right LED (Up) indicates the terminal supply. The other LEDs indicate the Terminal Bus status. A detailed description of the LEDs can be found in section "LED troubleshooting". CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 24: Ethernet

    It is possible for several devices to be connected to one 10Base2 cable. It is frequent for branches from a 10Base5 backbone to be implemented in 10Base2. Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 25 This identification refers to a cable with a screen for each of the two wires as well as an outer shield. Industrial Twisted-Pair The structure is similar to that of S/STP, but, in contrast to S/STP, it has only one pair of conductors. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 26: Canopen Cabling

    CAN controllers. The worst case calculation for opto-couplers yields a figure 5 m at 1 Mbit/s - in practice, however, 20 m can be reached without difficulty. It may be necessary to use repeaters for bus lengths greater than 1000 m. Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 27 Shorter drop line lengths must be maintained when passive distributors ("multiport taps"), such as the Beckhoff ZS5052-4500 Distributor Box. The following table indicates the maximum drop line lengths and the maximum length of the trunk line (without the drop lines):...
  • Page 28 Mounting and wiring • Weight: 64 kg/km. • printed with "BECKHOFF ZB5100 CAN-BUS 2x2x0.25" and meter marking (length data every 20 cm) ZB5200 CAN/DeviceNet Cable The ZB5200 cable material corresponds to the DeviceNet specification, and is also suitable for CANopen systems. The ready-made ZK1052-xxxx-xxxx bus cables for the Fieldbus Box modules are made from this cable material.
  • Page 29 Mounting and wiring Cable colors Suggested method of using the Beckhoff CAN cable on Bus Terminal and Fieldbus Box: BK51x0 pin BK5151, Fieldbus FC51xx pin/ Function ZB5100 ca- ZB5200 ca- BC5150/ CX805x, CX- Box pin EL6751 ble color ble color...
  • Page 30 C+) and 5 (CAN-L, marked with C-). The screen can optionally be connected to contact points 4 or 8, which are connected to the mounting rail via an R/C network. Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 31 The IPxxxx-B510, IL230x-B510 and IL230x-C510 Fieldbus Boxes are connected to the bus using 5- pin M12 plug-in connectors. Beckhoff offer plugs for field assembly, passive distributor's, terminating resistors and a wide range of pre- assembled cables for the Fieldbus Box system. Details be found in the catalog, or under www.beckhoff.com.

  • Page 32: Changing The Battery

    Battery type Technical data Duracell 303/357 SR44 1.5 V / 165 mAh Battery maintenance The battery must be replaced every 5 years. Spare batteries can be ordered from Beckhoff Service. Note Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 33: Parameterization And Commissioning

    CAUTION there is no explosive atmosphere before you use DIP switches. CX8050 DIP switch The address selection switch of the CX8050 has no purpose, although it can be read by the PLC (see programming). CX8051 DIP switch 2x 10-pole address switch S101/S102 The address selection switch can be used for CAN address, although it can also be read by the PLC (see programming).
  • Page 34 Parameterization and commissioning The station address can now be set for each slave with a DIP switch + number. For the virtual slaves you can use +1, +2, +3 for example. Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 35: Setting The Ip Adress

    The subnet mask is a 32-bit number: • Ones in the mask indicate the subnet part of an address space. • Zeros indicate that part of the address space which is available for the host IDs. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 36 Neither subnet 0 nor the subnet consisting only of ones may be used. Host number 0, and the host number consisting only of ones, must not be used. Under BootP or DHCP the sub- Note net mask is transmitted also by the server. Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 37: Configuration

    • Via a Micro SD card reader. The Micro SD card contains a file with the name of the image. Example CX8000_CE600_LF_v354b_TC211R3_B2248. TC211R3_2248 indicates the TwinCAT build; in the example the build is 2248. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 38 Java Applets NET Compact Framework v3.5 RDP Client (Remote Desktop protocol) CAB File Installer/Uninstaller TwinCAT (Level PLC) USB support Printer, storage on Compact Flash, for example HID (Human interface devices) Touch Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 39: Power Supply Terminal

    The operation of E-bus terminals and EtherCAT devices is possible on the CX80xx. The CX80xx recognizes these terminals automatically on scanning, reads out the terminal types and automatically places them in the System Manager. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 40 Parameterization and commissioning DC Distributed Clocks The CX80xx series is not suitable for the use of EtherCAT slaves that use or need distrib- uted clocks functionality. Note Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 41: Can

    (i.e. in the same cycle), only one telegram is sent. The RxPDOs had an additional status word, which is incremented on arrival of the PDO. This is useful in CX8050, CX8051 - Embedded-PCs for Version: 1.4...
  • Page 42 CAN address via the System Manager which can also be linked with the address selector (see Address switch). Add the process data PDOs under the box. For the CANopen master configure each of the four slaves like an independent device. Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 43 Fig. 3: Appending the CAN modules CX8050 CANopen interface / CAN interface The CANopen communication takes place via D-Sub port X101. The CX8050 enables a CANopen master or "simple" CAN communication to be used. CANopen address The rotary selector (S101/102) of the CAN master has no purpose. The address selector can be read via the PLC (see address) and then be used for the applications.
  • Page 44      for i := 0 to (Inputs.NoOfRxMessages-1) do           MessageReceived[i] := Inputs.RxMessage [i];      End_for      Outputs.RxCounter := Outputs.RxCounter+1; end_if Also see about this 2 DIP switch [} 33] 2 Emergency telegrams and diagnostics [} 56] Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 45: Web Services

    There is a Upnp webpage on the CX80xx for diagnostics. User name: guest Password: 1 Enter the IP address or the device name. Example http://cx-0f94ac/config http://172.16.17.55/config The diagnostic page was revised starting from image v354c. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 46 The call is made via the IP address or the device name in a web browser. Further information can be taken from the documentation on the web visualization (see TwinCAT Supplements PLC HMI Web). Example Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 47: Real Time Clock (Rtc)

    The RTC is read out via the FB_LocalSystemTime function blocks and can be set with the NT_SetLocalTime block (see TcUtilities.lib). The RTC is supplied by the battery and can thus continue to run in the power-off state. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 48: 1-Second Ups (Uninterruptible Power Supply)

    Checking whether current persistent data (from wdp file) or saved persistent data from the backup (wd~-file) were loaded In this example, the CX8090 indicates via the ERR LED whether the persistent data were loaded. The LED cannot be used for other CX8xxx models. Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 49: Cpu Load

    CPU load The CPU load is calculated internally with 10 ms. The CPU load display may fluctuate very strongly if one or more tasks exceeding 10 ms are used. Note CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 50: Programming

    Caution when using files: If other applications or the PLC keep other files open or write to them, this can lead to faulty files if the UPS switches off the controller. Attention Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 51 : Internal state of the function block, for values see E_S_UPS_State. VAR_GLOBAL VAR_GLOBAL     eGlobalSUpsState : E_S_UPS_State;    (* current ups state *) END_VAR E_S_UPS_State eGlobalUpsState      : Internal state of the function block as a global copy of the VAR_OUTPUT eState; for values see E_S_UPS_State. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 52 Programming Prerequisites Development environ- Target platform Hardware PLC libraries to be ment linked TwinCAT v2.11.0 build Seconds UPS TcSystemCX80xx.lib 2220 or higher (R3) Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 53: Data Types

        im Modus eSUPS_WrPersistData_Shutdown: QuickShutdown ist aktiv  im Modus eSUPS_ImmediateShutdown: QuickShutdown ist aktiv eSUPS_WaitForRecover:        im Modus eSUPS_WrPersistData_NoShutdown: Warten auf Wiederkehr der Spannung  im Modus eSUPS_CheckPowerStatus: Warten auf Wiederkehr der Spannung eSUPS_WaitForPowerOFF:       im Modus eSUPS_WrPersistData_Shutdown: Warten auf das Abschalten durch die USV  im Modus eSUPS_ImmediateShutdown: Warten auf das Abschalten durch die USV Prerequisites Development environ- Target platform Hardware PLC libraries to be ment linked TwinCAT v2.11.0 build Seconds UPS TcSystemCX80xx.lib 2220 or higher (R3) CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 54: Diagnostics

    NodeState value Description 0x01040400 1 MBaud 0x01040600 800 kBaud 0x01040C00 500 kBaud 0x010A0C00 250 kBaud 0x01160C00 125 kBaud 0x011C0C00 100 kBaud 0x013A0C00 50 kBaud 0x01940C00 20 kBaud 0x01941A10 10 kBaud Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 55: Sending Any Can Message

    Length of SDO data (1...4) Setting individual CANopen nodes to pre-operational or operational state The ADSWRTCTL block can be used to set individual CANopen nodes to pre-operational or operational state. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 56 Emergency telegrams and diagnostics The status of the CAN slave is indicated by NodeState. The DiagFlag is set if an emergency telegram was received. The EmergencyCounter is incremented with each emergency telegram. Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 57 Port number IDXGRP 16#xxxxF180 (xxxx) Node-Id, the Diag flag is only reset when at least 106 bytes are read 16#xxxxF181 (xxxx) Node-Id, the Diag flag is reset immediately IDXOFFS Byte Offset CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 58 16 - 19 Read value (if offset 6 = 1) 20 - 23 Expected value (if offset 6 = 1) 24 - 25 Number of consecutive emergencies 26-n Emergencies (8 bytes each) Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 59: Cx8051 Slave

    INVOKEID of the ADSREADIND block RESULT error <> 0, error-free = 0 Length of the data SDO Write request Data to be written must be received with ADSWRITEIND and answered with ADSWRITERES. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 60 A fixed baud rate is required for this purpose. Input parameters Description NETID NetId of the CAN interface Port number 0x1000 + NodeId (slave number) ADSSTATE ADSSTATE_RUN DEVSTATE 0 - Pre / 1 - Operational SRCADDR Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 61: Ethernet X001 Interface

    Ethernet device in the world. The MAC-ID consists of two parts. The first part (i.e. the first 3 bytes) is a manufacturer identifier. The identifier for Beckhoff is 00 01 05. The next 3 bytes are assigned by the manufacturer and implement a unique serial number.
  • Page 62 Both of these protocols are implemented in parallel on the Bus Coupler, so that no configuration is needed to activate the protocols. ADS can be used on top of either TCP or UDP, but ModbusTCP is always based on TCP/IP. Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 63: Topology Example

    Observe system load Observe the system load of your CX805x when using further Ethernet protocols such as ModbusTCP/UDP or Web Services. A high load can slow down Ethernet communication Note significantly. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 64: Ads-Communication

    Within a networked system it is thus possible to reach all data from any point. The ADS protocol runs on top of the TCP/IP or UDP/IP protocols. It allows the user within the Beckhoff system to use almost any connecting route to communicate with all the connected devices and to parameterize them.
  • Page 65 Gives the length of the data, in bytes, that is to be read or written. TCP port number The TCP port number for the ADS protocol is 48898 or 0xBF02. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 66: Can

    The desired communication type is set by the Transmission Type [} 71] parameter. Device Profile The BECKHOFF CANopen devices support all types of I/O communication, and correspond to the device profile for digital and analog input/output modules (DS401 Version 1). For reasons of backwards compatibility, the default mapping was not adapted to the DS401 V2 profile version.

  • Page 67: Protocol Description

    BECKHOFF website (http://www.beckhoff.com) for the parameterization of BECKHOFF CANopen devices using configuration tools from other manufacturers. Certification The BECKHOFF CANopen devices have a powerful implementation of the protocol, and are certified by the CAN in Automation Association (http://www.can-cia.org). Protocol description 9.2.1...
  • Page 68 Objects 0x1000 - 0x1FFF are reset to their power-on defaults. Example 1 The following telegram puts all the modules in the network into the error state (outputs in a safe state): Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 69 If either the status or the toggle bit do not agree with that expected by the NMT master, or if there is no answer at all, the master assumes that there is a slave fault. CX8050, CX8051 - Embedded-PCs for Version: 1.4...
  • Page 70 Life time = guard time x life time factor If either of these two parameters is "0" (the default setting), the master will not be monitored (no life guarding). Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 71: Process Data Objects (Pdo)

    PDOs (TxPDOs) are distinguished, the name being chosen from the point of view of the device: an input/ output module sends its input data with TxPDOs and receives its output data in the RxPDOs. This naming convention is retained in the TwinCAT System Manager. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 72 Generally speaking, CANopen is economical it its use of the available identifiers, so that the use of the 29-bit versions remains limited to unusual applications. It is therefore also not supported by a Beckhoff's CANopen devices. The highest bit (bit 31) can be used to activate the process data object or to turn it off.
  • Page 73 PDOs . If a PDO does not arrive within a set period of time, the bus node adopts the error state. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 74 This does take longer, but does mean that the data is up-to-date. BECKHOFF use CAN controllers following the principle of Basic CAN.
  • Page 75 (without first requesting up-to-date input data), there are circumstances in which it is questionable whether the polled data is up-to-date. Transmission types 252 and 253 are for this reason not supported by the BECKHOFF PC cards. Asynchronous The transmission types 254 + 255 are asynchronous, but may also be event-driven.
  • Page 76 Although the BECKHOFF FC510x PC cards can parameterize the inhibit time on slave devices, they do not themselves support it. The transmitted PDOs become automatically spread out (transmit delay) as a result of the selected PLC cycle time - and there is little value in having the PLC run faster than the bus bandwidth permits.
  • Page 77 As a rule, the default mapping of the process data objects already satisfies the requirements. For special types of application the mapping can nevertheless be altered: the Beckhoff CANopen Bus Couplers, for instance, thus support variable mapping, in which the application objects (input and output data) can be freely allocated to the PDOs.

  • Page 78: Pdo Parameterization

    The Beckhoff FC510x PC cards are capable of synchronizing the CANopen bus system with the cycles of the application program (PLC or NC).
  • Page 79 The BECKHOFF FC510x PC cards indicate the bus loading via the System Manager. This variable can also be processed in the PLC, or can be displayed in the visualization system.

  • Page 80: Service Data Objects (Sdo)

    The structure of the SDO telegrams is described below. Client -> Server, Upload Request 11 bit 8 bytes of user data identifier 0x600 0x40 Index0 Index1 SubIdx 0x00 0x00 0x00 0x00 (=1536de z) + node Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 81 It is optionally possible to give the number of valid parameter data bytes in the first CAN data byte Number of param- eter bytes First CAN data byte 0x2F 0x2B 0x27 0x23 CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 82 A download of data up to 4 bytes in length can therefore always be achieved in Beckhoff bus nodes with 22h in the first CAN data byte. Client -> Server, Download Response...

  • Page 83: Objekt Dictionary

    1. communication-specific profile region (index 0x1000 – 0x1FFF). This contains the description of all the parameters specific to communication. 2. manufacturer-specific profile region (index 0x2000 – 0x5FFF). Contains the description of the manufacturer-specific entries. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 84: Object List

    0x180F and from 0x1A00 to 0x1A0F. Manufacturer-specific region This region contains entries that are specific to BECKHOFF, e.g.: • data objects for special terminals • objects for register communication providing access to all the Bus Couplers’ and Bus Terminals’...
  • Page 85 [} 89] 0x1010 Save parameters [} 89] 0x1011 Load default values [} 89] 0x1014 Emergency identifier [} 89] 0x1016 Consumer heartbeat time [} 89] 0x1017 Producer heartbeat time [} 89] 0x1018 Device identifier (identity object) [} 89] CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 86 [} 89] 0x1610 - Mapping 0x161F 17th –32nd RxPDO [} 89] 0x1800 - Communicati 0x1804 parameters for the 1st -5th TxPDOs [} 89] 0x1805 - Communicati 0x180F parameters for the 6th-16th TxPDOs [} 89] Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 87 Flag area 0x2F04 %MB2048-25 Flag area 0x2F05 %MB2560-30 Flag area 0x2F06 %MB3072-35 Flag area 0x2F07 %MB3585-40 0x2600 3-byte special terminals, input data [} 89] 0x2700 3-byte special terminals, output data [} 89] CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 88 0x3000 8-byte special terminals, input data [} 89] 0x3100 8-byte special terminals, output data [} 89] 0x4500 Bus node register communicati on [} 89] 0x4501 Terminal / Extension Box register communicati on [} 89] Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 89: Objects And Data

    A BK5120 with digital and analog inputs, but with no outputs, thus returns 0x00 05 01 91. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 90 The additional code contains the error trigger (see emergency object) and thereby a detailed error description. New errors are always saved at sub-index 1, all the other sub-indices being appropriately incremented. The whole error store is cleared by writing a 0 to sub-index 0. Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 91 1.5 times the communication cycle period that has been set - the planned SYNC interval can therefore be entered. The I/O update is carried out at the Beckhoff CANopen bus nodes immediately after reception of the SYNC telegram, provided the following conditions are satisfied: - Firmware status C0 or above (CANopen Version 4.01 or higher).
  • Page 92 Life time factor Index Sub-index Name Type Attribute Mapping Default Meaning value 0x100D Life time Unsigned8 rw Life time factor factor x guard time = life time (watchdog for life guarding) Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 93 • All guarding parameters • Limit values, delta values and interrupt enables for analog inputs Parameters directly stored in the terminals by way of register communication are immediately stored there in non-volatile form. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 94 (1) the emergency telegram or not (0). Alternatively, the bus node's diagnostic function can also be switched off using the Device diagnostics bit in the K-Bus configuration (see object 0x4500). Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 95 As is usual in CANopen, the LSB is transferred first, followed by the MSB. Producer heartbeat time Index Sub-index Name Type Attribute Mapping Default Meaning value 0x1017 Producer Unsigned16 rw Interval in heartbeat time between transmitted heartbeat telegrams CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 96 Unsigned32 ro Production Number date low word, high byte: calendar week (dec), low word, low byte: calendar year Product Product Code BK5120 0x11400 BK5110 0x113F6 LC5100 0x113EC IPwxyz-B510 0x2wxyz IL2301-B510 0x2008FD Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 97 (Client -> Server) COB-ID Unsigned32 ro 0x0000058 COB-ID Server - 0 + Node- TxSDO >Client (Client -> Server) This is contained in the object directory for reasons of backwards compatibility. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 98 PDO is permissible (0) or not (1). Changing the identifier (bits 0-10) is not allowed while the object exists (bit 31=0). Sub-index 2 contains the type of the transmission (see introduction to PDOs). Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 99 RxPDO. Unsigned8 rw Present for Priority reasons of Group backwards compatibilit y, but not used. Event Unsigned16 rw Event- Timer Timer. Watchdog time defined for monitoring reception of the PDO. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 100 RxPDO. Unsigned8 rw Present for Priority reasons of Group backwards compatibilit y, but not used. Event Unsigned16 rw Event- Timer Timer. Watchdog time defined for monitoring reception of the PDO. Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 101 RxPDO. Unsigned8 rw Present for Priority reasons of Group backwards compatibilit y, but not used. Event Unsigned16 rw Event- Timer Timer. Watchdog time defined for monitoring reception of the PDO. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 102 Unsigned16 rw Event- Timer Timer. Watchdog time defined for monitoring reception of the PDO. The number of RxPDOs for each bus node type can be found in the technical data. Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 103 4. Activate mapping (set sub-index 0 of the mapping entry to the correct number of mapped objects) 5. Create PDO (set bit 31 in the identifier entry (sub-index 1) of the communication parameters to 0) CX8050, CX8051 - Embedded-PCs for Version: 1.4...
  • Page 104 Since the analog outputs are organised in words, the length of the PDO in bytes can be found directly at sub-index 0. A specific sequence must be observed in order to change the mapping (see object index 0x1600). Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 105 [Gefahrinformation hier einfügen!] NoteDS401 V2 specifies analog input and/or output data as the default mapping for PDOs 3+4. This corresponds to Beckhoff's default mapping when less than 65 digital inputs or Note outputs are present. In order to ensure backwards compatibility, the Beckhoff default map- ping is retained - the mapping behaviour of the devices therefore corresponds to DS401 V1, where in all other respects they accord with DS401 V2.
  • Page 106 PDOs of the same type, while sub-index 5 contains the event timer. Sub-index 4 is retained for reasons of compatibility, but is not used. (See also the introduction to PDOs.) Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 107 The second transmit PDO is provided by default for analog inputs, and is configured for event-driven transmission (transmission type 255). Event-driven mode must first be activated (see object 0x6423), otherwise the inputs can only be interrogated (polled) by remote transmission request (RTR). CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 108 The third transmit PDO contains analog input data as a rule (see Mapping). It is configured for event-driven transmission (transmission type 255). Event-driven mode must first be activated (see object 0x6423), otherwise the inputs can only be interrogated (polled) by remote transmission request (RTR). Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 109 The fourth transmit PDO contains analog input data as a rule (see Mapping). It is configured for event-driven transmission (transmission type 255). Event-driven mode must first be activated (see object 0x6423), otherwise the inputs can only be interrogated (polled) by remote transmission request (RTR). CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 110 Inhibit Time Unsigned16 rw Repetition delay [value x 100 µs] Unsigned8 rw Present for Priority reasons of Group backwards compatibilit y, but not used. Event Unsigned16 rw Event- Timer Timer Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 111 Since the digital inputs are organised in bytes, the length of the PDO in bytes can be found directly at sub-index 0. A specific sequence must be observed in order to change the mapping (see object index 0x1600). CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 112 Since the analog inputs are organised in words, the length of the PDO in bytes can be found directly at sub-index 0. A specific sequence must be observed in order to change the mapping (see object index 0x1600). Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 113 [Gefahrinformation hier einfügen!] NoteDS401 V2 specifies analog input and/or output data as the default mapping for PDOs 3+4. This corresponds to Beckhoff's default mapping when less than 65 digital inputs or Note outputs are present. In order to ensure backwards compatibility, the Beckhoff default map- ping is retained - the mapping behavior of the devices therefore corresponds to DS401 V1, where in all other respects they accord with DS401 V2.
  • Page 114 0X80 output Unsigned24 rww 0x000000 output block channel Example of special terminals with 3-byte output data (in the default setting): KL2502 (PWM outputs, 2 x 3 bytes) Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 115 Unsigned40 ro 0x0000000 input block channel 0X40 input Unsigned40 ro 0x0000000 input block channel Example of special terminals with 5-byte input data (in the default setting): KL1501 CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 116 Unsigned48 rww 0x0000000 output block channel 0X40 output Unsigned48 rww 0x0000000 output block channel Example of special terminals with 6-byte output data (in the default setting): KL5051, KL5101, KL5111 Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 117 Accessing index 0x4500 allows any registers in the bus station to be written or read. The channel number and the register are addressed here with a 32 bit data word. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 118 In order to remove the coupler write protection, the following SDO telegrams (download requests) must thus be sent to the coupler: Id=0x600+Node-ID DLC=8; Data=23 00 45 00 FE AF 02 E3 Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 119 KS2000 configuration software, or through direct access via register communication. The write protection must first be removed in order to do this (see above). The relevant register entries are described below: CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 120 1: Map data to word boundaries (process data always starts on an even address in the PDO) d: Data format for complex terminals (analog and special terminals) 0: Intel format (default) Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 121 32-bit data value. Channel number 0 corresponds here to the first channel, 1 to the second channel, and so forth. CX8050, CX8051 - Embedded-PCs for Version: 1.4...
  • Page 122 31 of the channel concerned: Write protection Channel Register Value Corresponding SDO download value (0x4500/0) 1,2, 3 or 4 31 (0x1F) 4661 (0x1235) 8y 1F 12 35 (y = channel number) Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 123 The 32-bit value is used as follows: Transmission Type Transmission Type High byte inhibit time Low byte inhibit time RxPDOs TxPDOs As is usual in CANopen, the LSB is transferred first, followed by the MSB. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 124 64...127 (not settable in Bus Couplers BK5110, BK5120 and LC5100) in square brackets. Addresses 1…99 can be set for the Fieldbus Box modules and the BK515x Bus Couplers. Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 125 The interrupt mask for TxPDOs with analog input data is not evaluated if either limit values (0x6424, 0x6425) or the delta function (0x6426) have been activated for the inputs. This entry has been implemented in firmware C3 and above. CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 126 Unsigned8 ro Depending Number of elements on type and available fittings digital 8-bit output data blocks input Unsigned8 rw 0x00 output block channel 0XFE input Unsigned8 rw 0x00 output block channel Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 127 In event-driven operation, the transmission behavior of the analog PDOs can be parameterized before activation by setting the inhibit time (object 0x1800ff, sub-index 3) and/or limit value monitoring (objects 0x6424 + 0x6425) and/or delta function (object 0x6426). CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 128 Values different from 0 activate the lower limit value for this channel. A PDO is then transmitted if the value falls below this limit value. In addition, the event driven mode must be activated (object 0x6423). The data format corresponds to that of the analog inputs. Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 129 In addition, the event driven mode must be activated (object 0x6423). The data format corresponds to that of the analog inputs (delta value: can only have positive values). CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 130: Error Handling And Siagosis

    Error handling and siagosis Error handling and siagosis 10.1 LED displays Ethernet interface X001 Interface X001 Ethernet (CX805x) Meaning LED green Link present LED yellow flashing Activity Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 131 Error handling and siagosis CAN master LEDs of the CX8050 Labeling Meaning Color Meaning Indicates the status of the TwinCAT is in "stop" coupler mode Green TwinCAT is in "run" mode Blue TwinCAT is in "config" mode (If red DIP switch 1 is set...
  • Page 132 K-bus LED RUN Lights up green: K-bus running, row) everything OK 6 K-BUS ERR (bottom right, 3rd K-bus LED ERR Lights up red: K-bus error - see K- row) bus error code Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 133 (switch off and on again) 7 pulses Process data lengths do Check the Bus Terminals not correspond to the for the configured Bus configuration Terminals 1..n K-bus reset failed Check the Bus Terminals CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 134: Appendix

    5. Switch on TC on the PC in Config Mode (TwinCAT icon blue) and start the System Manager 6. In the System Manager, click on the PC symbol (Choose Target System) or press >F8< 7. The following dialog box opens; click on Search (Ethernet). Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 135   Your network is scanned for Beckhoff controllers. If none is found, this means that the DHCP of the controller is not yet completed or the network settings on your PC are incorrect. A network cable that has not been connected can naturally also be the cause, but this should not be the case if point 3 has been done.
  • Page 136 MAC address on the side of the CX80xx. The MAC address is always 6 bytes long and the first three bytes are the vendor ID, which is always 00 01 05 in the case of Beckhoff devices. An "X" next to Connected means that the CX is already known in the system and can be used. To make it known, click in the list on the CX with which you want to connect and then click on "Add route".
  • Page 137 19: Now open the project, then the task and then outputs, in which there must be a variable MAIN.bToggle. You can link this with the hardware. To do this, click on "Linked to...". CX8050, CX8051 - Embedded-PCs for Version: 1.4...
  • Page 138 21. As a final step Online/Generate a boot project. This completes the project and your first program is stored on the CX. Congratulations, the foundations have now been laid and are ready to be built on. We wish you every success! Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 139: Image Update

    • Set red Dip switch (under the flap) DIP 1 to ON • Switch on the CX • Connect the PC with USB • Delete all files (we recommend that you backup all files first), no formatting CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 140 • Insert the MicroSD card into the SD slot of the switched-off CX again • Now switch on the CX again; it may take a little longer the first time Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 141: Certification

    The name plate of the CX8xxx Embedded PCs shows a consecutive serial number, a hardware version and a date of manufacture: Legend: Serial number, consecutive number Hardware version, ascending number Production day Production month yyyy: Production year CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 142: Fcc

    • Or the power supply must originate from a voltage source that corresponds to NEC class 2. An NEC class 2 voltage source must not be connected in series or parallel with another NEC class 2 voltage source. Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 143: Can Identifier List

    The list provided here should assist in identifying and assigning CANopen messages. All the identifiers allocated by the CANopen default identifier allocation are listed, as well as the manufacturer-specific default identifiers issued by BECKHOFF via object 0x5500 [} 89] (only to be used in networks with node addresses less than 64).
  • Page 144 RxPDO10 0x641 - 0x67F 1601- 1663 TxPDO11 0x6C1 - 0x6FF 1729 - 1791 RxPDO11 0x741 - 0x77F 1857 - 1919 SDO (Tx) 0x581 - 0x5BF [0x5FF] 1409 - 1471 [1535] Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 145 Guarding / Heartbeat/ Bootup 0x701 - 0x73F [0x77F] 1793 - 1855 [1919] Identifier List Identifiers marked with * are given manufacturer-specific assignments on the Bus Couplers after writing index 0x5500 CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 146 TxPDO3*, 1452 SDO Tx Nd.21 Nd.44 EMCY TxPDO3*, 1453 SDO Tx Nd.22 Nd.2 Nd.45 EMCY TxPDO3*, 1454 SDO Tx Nd.23 Nd.3 Nd.46 EMCY TxPDO3*, 1455 SDO Tx Nd.24 Nd.4 Nd.47 Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 147 1479 TxPDO10 Nd.47 Nd.27 *, Nd.7 EMCY TxPDO3*, 1480 TxPDO10 Nd.48 Nd.28 *, Nd.8 EMCY TxPDO3*, 1481 TxPDO10 Nd.49 Nd.29 *, Nd.9 EMCY TxPDO3*, 1482 TxPDO10 Nd.50 Nd.30 *, Nd.10 CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 148 Nd.53 *, Nd.33 TxPDO1, TxPDO3*, 1506 TxPDO10 DI, Nd.11 Nd.54 *, Nd.34 TxPDO1, TxPDO3*, 1507 TxPDO10 DI, Nd.12 Nd.55 *, Nd.35 TxPDO1, TxPDO3*, 1508 TxPDO10 DI, Nd.13 Nd.56 *, Nd.36 Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 149 Nd.16 *, Nd.59 TxPDO1, TxPDO8*, 1532 TxPDO10 DI, Nd.37 Nd.17 *, Nd.60 TxPDO1, TxPDO8*, 1533 TxPDO10 DI, Nd.38 Nd.18 *, Nd.61 TxPDO1, TxPDO8*, 1534 TxPDO10 DI, Nd.39 Nd.19 *, Nd.62 CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 150 DI, Nd.62 Nd.42 Nd.22 TxPDO1, 1003 TxPDO8*, 1559 SDO Rx DI, Nd.63 Nd.43 Nd.23 TxPDO6 1004 TxPDO8*, 1560 SDO Rx Nd.44 Nd.24 TxPDO6*, 1005 TxPDO8*, 1561 SDO Rx Nd.2 Nd.45 Nd.25 Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 151 Nd.25 Nd.5 Nd.48 TxPDO6*, 1030 RxPDO3*, 1585 SDO Rx Nd.26 Nd.6 Nd.49 TxPDO6*, 1031 RxPDO3*, 1586 SDO Rx Nd.27 Nd.7 Nd.50 TxPDO6*, 1032 RxPDO3*, 1587 SDO Rx Nd.28 Nd.8 Nd.51 CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 152 Nd.31 *, Nd.11 TxPDO6*, 1056 RxPDO3*, 1612 RxPDO10 Nd.52 Nd.32 *, Nd.12 TxPDO6*, 1057 RxPDO3*, 1613 RxPDO10 Nd.53 Nd.33 *, Nd.13 TxPDO6*, 1058 RxPDO3*, 1614 RxPDO10 Nd.54 Nd.34 *, Nd.14 Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 153 RxPDO1, 1082 RxPDO3*, 1638 RxPDO10 DO, Nd.15 Nd.58 *, Nd.38 RxPDO1, 1083 RxPDO3*, 1639 RxPDO10 DO, Nd.16 Nd.59 *, Nd.39 RxPDO1, 1084 RxPDO3*, 1640 RxPDO10 DO, Nd.17 Nd.60 *, Nd.40 CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 154 DO, Nd.40 Nd.20 *, Nd.63 RxPDO1, 1109 RxPDO8*, 1665 TxPDO5 DO, Nd.41 Nd.21 RxPDO1, 1110 RxPDO8*, 1666 TxPDO5*, DO, Nd.42 Nd.22 Nd.2 RxPDO1, 1111 RxPDO8*, 1667 TxPDO5*, DO, Nd.43 Nd.23 Nd.3 Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 155 RxPDO8*, 1690 TxPDO5*, Nd.3 Nd.46 Nd.26 RxPDO6*, 1135 RxPDO8*, 1691 TxPDO5*, Nd.4 Nd.47 Nd.27 RxPDO6*, 1136 RxPDO8*, 1692 TxPDO5*, Nd.5 Nd.48 Nd.28 RxPDO6*, 1137 RxPDO8*, 1693 TxPDO5*, Nd.6 Nd.49 Nd.29 CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 156 TxPDO4*, 1716 TxPDO5*, Nd.29 Nd.9 Nd.52 RxPDO6*, 1162 TxPDO4*, 1717 TxPDO5*, Nd.30 Nd.10 Nd.53 RxPDO6*, 1163 TxPDO4*, 1718 TxPDO5*, Nd.31 Nd.11 Nd.54 RxPDO6*, 1164 TxPDO4*, 1719 TxPDO5*, Nd.32 Nd.12 Nd.55 Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 157 Nd.35 *, Nd.15 RxPDO6*, 1188 TxPDO4*, 1744 TxPDO11 Nd.56 Nd.36 *, Nd.16 RxPDO6*, 1189 TxPDO4*, 1745 TxPDO11 Nd.57 Nd.37 *, Nd.17 RxPDO6*, 1190 TxPDO4*, 1746 TxPDO11 Nd.58 Nd.48 *, Nd.18 CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 158 *, Nd.41 TxPDO2, 1214 TxPDO4*, 1770 TxPDO11 AI, Nd.19 Nd.62 *, Nd.42 TxPDO2, 1215 TxPDO4*, 1771 TxPDO11 AI, Nd.20 Nd.63 *, Nd.43 TxPDO2, 1217 TxPDO9 1772 TxPDO11 AI, Nd.21 *, Nd.44 Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 159 AI, Nd.44 Nd.24 Nd.4 TxPDO2, 1241 TxPDO9*, 1797 Guarding AI, Nd.45 Nd.25 Nd.5 TxPDO2, 1242 TxPDO9*, 1798 Guarding AI, Nd.46 Nd.26 Nd.6 TxPDO2, 1243 TxPDO9*, 1799 Guarding AI, Nd.47 Nd.27 Nd.7 CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 160 TxPDO9*, 1822 Guarding Nd.7 Nd.50 Nd.30 TxPDO7*, 1267 TxPDO9*, 1823 Guarding Nd.8 Nd.51 Nd.31 TxPDO7*, 1268 TxPDO9*, 1824 Guarding Nd.9 Nd.52 Nd.32 TxPDO7*, 1269 TxPDO9*, 1825 Guarding Nd.10 Nd.53 Nd.33 Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 161 RxPDO4*, 1848 Guarding Nd.33 Nd.13 Nd.56 TxPDO7*, 1294 RxPDO4*, 1849 Guarding Nd.34 Nd.14 Nd.57 TxPDO7*, 1295 RxPDO4*, 1850 Guarding Nd.35 Nd.15 Nd.58 TxPDO7*, 1296 RxPDO4*, 1851 Guarding Nd.36 Nd.16 Nd.59 CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 162 Nd.39 *, Nd.19 TxPDO7*, 1320 RxPDO4*, 1876 RxPDO11 Nd.60 Nd.40 *, Nd.20 TxPDO7*, 1321 RxPDO4*, 1877 RxPDO11 Nd.61 Nd.41 *, Nd.21 TxPDO7*, 1322 RxPDO4*, 1878 RxPDO11 Nd.62 Nd.42 *, Nd.22 Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 163 RxPDO2, 1347 RxPDO9*, 1902 RxPDO11 AO, Nd.23 Nd.3 *, Nd.46 RxPDO2, 1348 RxPDO9*, 1903 RxPDO11 AO, Nd.24 Nd.4 *, Nd.47 RxPDO2, 1349 RxPDO9*, 1904 RxPDO11 AO, Nd.25 Nd.5 *, Nd.48 CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 164 AO, Nd.48 Nd.28 Nd.8 RxPDO2, 1373 RxPDO9*, 1929 RxPDO5*, AO, Nd.49 Nd.29 Nd.9 RxPDO2, 1374 RxPDO9*, 1930 RxPDO5*, AO, Nd.50 Nd.30 Nd.10 RxPDO2, 1375 RxPDO9*, 1931 RxPDO5*, AO, Nd.51 Nd.31 Nd.11 Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...
  • Page 165 RxPDO9*, 1954 RxPDO5*, Nd.11 Nd.54 Nd.34 RxPDO7*, 1399 RxPDO9*, 1955 RxPDO5*, Nd.12 Nd.55 Nd.35 RxPDO7*, 1400 RxPDO9*, 1956 RxPDO5*, Nd.13 Nd.56 Nd.36 RxPDO7*, 1401 RxPDO9*, 1957 RxPDO5*, Nd.14 Nd.57 Nd.37 CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...
  • Page 166 Nd.37 Nd.17 Nd.60 RxPDO7*, 1426 SDO Tx 1981 RxPDO5*, Nd.38 Nd.18 Nd.61 RxPDO7*, 1427 SDO Tx 1982 RxPDO5*, Nd.39 Nd.19 Nd.62 RxPDO7*, 1428 SDO Tx 1983 RxPDO5*, Nd.40 Nd.20 Nd.63 Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 167: Bibliography

    Hanser Verlag, 2000. 431 pages. ISBN 3-446-19431-2 General fieldbus technology • Gerhard Gruhler (Pub.): Feldbusse und Geräte-Kommunikationssysteme, Praktisches Know-How mit Vergleichsmöglichkeiten. (Fieldbus and Device Communication Systems, Practical Know-how with CX8050, CX8051 - Embedded-PCs for Version: 1.4 CANopen and CAN...

  • Page 168: List Of Abbreviations

    Service Data Object. A CAN telegram with a protocol for communication with data in the object directory (typically parameter data). TxPDO Transmit PDO (named from the point of view of the CAN node). Version: 1.4 CX8050, CX8051 - Embedded-PCs for CANopen and CAN...

  • Page 169: Support And Service

    Beckhoff's branch offices and representatives Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: http://www.beckhoff.com You will also find further documentation for Beckhoff components there.

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