Beckhoff CX1500-M510 Manual page 127

Index Sub-index Name
0x1600 0
1
2
...
8
The first receive PDO (RxPDO1) is provided by default for digital output data. Depending on the number of
outputs inserted, the necessary length of the PDO is automatically determined, and the corresponding
objects are mapped. Since the digital outputs are organised in bytes, the length of the PDO in bytes can be
found directly at sub-index 0.
Changes to the mapping
The following sequence must be observed in order to change the mapping (specified as from CANopen,
version 4):
1. Delete PDO (set bit 31 in the identifier entry (sub-index 1) of the communication parameters to 1)
2. Deactivate mapping (set sub-index 0 of the mapping entry to 0)
3. Change mapping entries (sub-indices 1...8)
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)
Mapping parametersfor the 2nd RxPDO
for the 2nd RxPDOMapping parameters
CX1500-M510, CX1500-B510
Type
Number of Unsigned8 rw
elements
st
1 mapped Unsigned32 rw
object
nd
2 mapped Unsigned32 rw
object
... ...
th
8 mapped Unsigned32 rw
object
Version: 1.0
Attribute Mapping
N
N
N
... ...
N
Product overview
Default Meaning
value
Depending Mapping
on type and parameter
fittings of the first
receive
PDO; sub-
index 0:
number of
mapped
objects.
st
0x6200010 1 mapped
8 application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
nd
0x6200020 2 mapped
8 application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
... ...
th
0x6200080 8 mapped
8 application
object (2
bytes index,
1 byte sub-
index, 1
byte bit
width)
127