Beckhoff CX1500-M510 Manual page 103

Product overview
In the case of receive PDOs, the timer is used to set a watchdog interval for the PDO: the application is
informed if no corresponding PDO has been received within the set period. The FC510x can in this way
monitor each individual PDO.
Notes on PDO Parameterization [} 104]
PDO Mapping
PDO Mapping
PDO mapping refers to mapping of the application objects (real time data) from the object directory to the
process data objects. The CANopen device profile provide a default mapping for every device type, and this
is appropriate for most applications. Thus the default mapping for digital I/O simply represents the inputs and
outputs in their physical sequence in the transmit and receive process data objects.
The default PDOs for drives contain 2 bytes each of a control and status word and a set or actual value for
the relevant axis.
The current mapping can be read by means of corresponding entries in the object directory. These are
known as the mapping tables. The first location in the mapping table (sub-index 0) contains the number of
mapped objects that are listed after it. The tables are located in the object directory at index 0x1600ff for the
RxPDOs and at 0x1A00ff for the TxPDOs.
Digital and analog input/output modules: Read out the I/O number
The current number of digital and analog inputs and outputs can be determined or verified by reading out the
corresponding application objects in the object directory:
Parameters Object directory address
Number of digital input bytes Index 0x6000, sub-index 0
Number of digital output bytes Index 0x6200, sub-index 0
Number of analog inputs Index 0x6401, sub-index 0
Number of analog outputs Index 0x6411, sub-index 0
CX1500-M510, CX1500-B510 Version: 1.0 103