Beckhoff CX1500-M510 Manual page 111

Peer-to-peer objects
Object Function
Emergency Status / error
PDO1 (tx) dig. inputs
PDO1 (rx) digital outputs
PDO2 (tx) analog inputs
PDO2 (rx) analog outputs
PDO3 (tx) analog inputs*
PDO3 (rx) analog outputs*
PDO4 (tx) analog inputs*
PDO4 (rx) analog outputs*
SDO (tx) Parameters
SDO (rx) Parameters
Guarding Life/node
guarding,
Heartbeat,
Boot-up
message
*) The Beckhoff Default Mapping [} 63] applies to PDO 3 + 4. In most configurations, PDOs 3 and 4 contain
data related to analog inputs and outputs, but there can also be "excess" data from digital I/Os, or data from
special terminals. Details may be found in the section covering PDO Mapping [} 15].
Up until version 3 of the CANopen specification, default identifiers were assigned to 2 PDOs at a time. The
BECKHOFF Bus Couplers up to firmware status BA correspond to this issue of the specification. After
firmware status C0 (CANopen version 4), default identifiers are provided for up to 4 PDOs.
Manufacture-Specific Default Identifiers for Additional PDOs
Default Identifiers for Additional PDOs
Identifiers are not assigned to the additional PDOs that are filled by the Beckhoff Bus Couplers in
accordance with the standard scheme. The user must enter an identifier for these PDOs in the object
directory. It is easier to activate the occupied PDOs by means of object 0x5500 [} 22].
This entry in the object directory extends the default identifier allocation up to 11 PDOs. This creates the
following identifiers:
CX1500-M510, CX1500-B510
Function code Resulting COB ID
hex
1 0x81 - 0xFF
11 0x181 - 0x1FF
100 0x201 - 0x27F
101 0x281 - 0x2FF
110 0x301 - 0x37F
111 0x381 - 0x3FF
1000 0x401 - 0x47F
1001 0x481 - 0x4FF
1010 0x501 - 0x57F
1011 0x581 - 0x5FF
1100 0x601 - 0x67F
1110 0x701 - 0x77F
Version: 1.0
Product overview
Object for
communica-
dec
tion Parame-
ter / mapping
129 - 255 - / -
385 - 511
0x1800 [} 22] /
0x1A00 [} 22]
513 - 639
0x1400 [} 22] /
0x1600 [} 22]
641 - 767
0x1801 [} 22] /
0x1A01 [} 22]
769 - 895
0x1401 [} 22] /
0x1601 [} 22]
897 - 1023
0x1802 [} 22] /
0x1A02 [} 22]
1025 - 1151
0x1402 [} 22] /
0x1602 [} 22]
1153 - 1279
0x1803 [} 22] /
0x1A03 [} 22]
1281 - 1407
0x1403 [} 22] /
0x1603 [} 22]
1409 - 1535 - / -
1537 - 1663 - / -
1793 - 1919
(0x100C [} 22],
0x100D [} 22],
0x100E [} 22],
0x1016 [} 22],
0x1017 [} 22])
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