Beckhoff CX1500-M510 Manual page 148

Product overview
The 32-bit value is used as follows:
MSB
Transmission Type
RxPDOs
As is usual in CANopen, the LSB is transferred first, followed by the MSB.
Example
Activate PDOs for bus node number 1, set inhibit time to 10ms (=100 x 100µs), set transmission type for
TxPDOs to 255, and set transmission type for RxPDOs to 1. The following telegram must be sent:
Id=0x601 DLC=8; Data=23 00 55 00 64 00 FF 01
The node responds with the following telegram:
Id=0x601 DLC=8; Data=60 00 55 00 00 00 00 00
Identifiers used
The default identifier allocation for the additional PDOs leaves the pre-defined regions for guarding, SDOs
etc. free, assumes a maximum of 64 nodes in the network with PDO6 as the next node, and proceeds
according to the following scheme:
Object
TxPDO5
RxPDO5
TxPDO6
RxPDO6
TxDPO7
RxPDO7
TxPDO8
RxPDO8
TxPDO9
RxPDO9
TxDPO10
RxPDO10
TxPDO11
RxPDO11
WarningEnsure that index 0x5500 is not used if Bus Couplers with more than 5 PDOs are present in net-
works with node addresses > 64, otherwise identification overlaps can occur. In that case, the PDO identi-
fiers must be set individually.
For the sake of clarity, the default identifiers defined according to CANopen are also listed here:
148
Transmission Type
TxPDOs
Function code
1101
1111
00111
01001
01011
01101
01111
10001
10011
10101
10111
11001
11011
11101
NOTE
Version: 1.0
High byte inhibit time
Resulting COB ID (hex) Resulting COB ID (dec)
0x681 - 0x6BF
0x781 - 0x7BF
0x1C1 - 0x1FF
0x241 - 0x27F
0x2C1 - 0x2FF
0x341 - 0x37F
0x3C1- 0x3FF
0x441 - 0x47F
0x4C1 - 0x4FF
0x541 - 0x57F
0x5C1 - 0x5FF
0x641 - 0x67F
0x6C1 - 0x6FF
0x741 - 0x77F
LSB
Low byte inhibit time
1665 - 1727
1921- 1983
449 - 511
577 - 639
705 - 767
833 - 895
961 - 1023
1089 - 1151
1217 - 1279
1345 - 1407
1473 - 1535
1601- 1663
1729 - 1791
1857 - 1919
CX1500-M510, CX1500-B510