Beckhoff CX1500-M510 Manual page 167

Assembly and connecting
Below the box for the CANopen-Slave CX1500-B510 a status input shows the NodeState. Via this signal the
PLC program can read the NodeState of the slave box. There are also four Process-Data-Objects (PDO)
instanced: two for data output (TxPDO n) and two for data input (RxPDO n). Here the process variables can
be inserted. To do so the user have to click on the input / output with the right mouse button. The following
menu opens:
Select "Insert Variable". A dialog box opens to insert parameters for the variable.
CX1500-M510, CX1500-B510 Version: 1.0 167