Beckhoff CX1500-M510 Manual page 147

Write protection Channel
1,2, 3 or 4
Remove terminal write protection (CAN representation)
In order to remove the terminal's write protection, the following SDO telegram must thus be sent to the
coupler:
Id=600 + Node-ID DLC=8; Data=23 01 45 xx 35 12 1F 8y
where xx is the terminal's slot, and y indicates the channel.
An example of removing write protection
Suppose that a KL3202 Thermocouple Input Terminal is inserted into slot 5 of a BK5120 that has node
address 3, then the write protection for the first channel can be removed as follows:
Id=0x603 DLC=8; Data=23 01 45 05 35 12 1F 80
The following telegram is sent for the second channel:
Id=0x603 DLC=8; Data=23 01 45 05 35 12 1F 81
An example of writing register values
The type of thermocouple attached to the second channel of the KL3202 Terminal in slot 5 is now to be
changed to PT1000. For this purpose, the value 2 must be written into the upper 4 bits (the upper nibble) of
the feature register. It is assumed to that the default values are to be supplied for all the other bits in the
feature register. Once the write protection has been removed, SDO write access (download request) is used
to write the following 32 bit value into index 0x4501, sub-index 05: 81 20 21 06 (0x81=01+0x80;
0x20=32;0x2106 = register value).
The corresponding telegram on the bus looks like this:
Id=0x600+Node-ID DLC=8; Data=23 01 45 05 06 21 20 81
Activate PDOs
Activate PDOs
Index Sub-index Name
0x5500 0
CANopen defines default identifiers for 4 transmit (Tx) and 2 receive (Rx) PDOs, all other PDOs being
initially deactivated after the nodes have started up. Index 0x5500 can activate all the PDOs that, in
accordance with the terminals inserted, are filled with process data (manufacturer-specific default mapping).
A manufacturer-specific default identifier allocation is carried out here for PDO5...11, while the transmission
type and a uniform inhibit time is set for PDO2...11. PDOs that do not have process data (and which are
thus superfluous in the present configuration) are not activated.
NoteThis object can only be written in the pre-operational state!
CX1500-M510, CX1500-B510
Register
31 (0x1F)
Type
Activate Unsigned32 rw
PDO
Defaults
Version: 1.0
Value
4661 (0x1235)
Attribute Mapping
N
Product overview
Corresponding
SDO download
value (0x4500/0)
8y 1F 12 35 (y =
channel number)
Default Meaning
value
0x0000000 sets PDO
0 communica
tion
parameters
for PDOs
2...11
147