BECKHOFF BK51x0 - Manual

BECKHOFF New Automation Technology page 1/4
Update info CANopen version 3 to version 4.01 2002-04-30
Beckhoff CANopen devices:
now according to CANopen version 4
New Features + tips for integration in existing networks
Since firmware release C1 the Beckhoff CANopen devices BK5120, BK5110 and LC5100
comply with the CANopen communication profile DS301 Version 4.01 and with the new CiA
recommendation for the LED behaviour DRP303-3. The bus couplers have gained many new
features. Furthermore, the performance of the firmware was significantly improved. The Beckhoff
CANopen devices pass the new CANopen conformance test. Unfortunately the update implies to
some minor functional changes, which generally do not lead to compatibility problems.
1. PDO Behaviour ..........................................................................................................1
1.1 Default Identifier für PDO3 + 4 ...............................................................................1
1.2 Firmware performance improved ...........................................................................2
1.3 PDO event timer now supported ............................................................................2
1.4 PDO fully synchronised with I/O-Update ................................................................2
2. LED Behaviour...........................................................................................................2
2.1 LED behaviour now according to DRP303-3..........................................................2
3. Object Dictionary........................................................................................................3
3.1 Identity Object now supported................................................................................3
3.2 0x100E: Guarding-Identifier now Read-Only..........................................................3
3.3 Object 0x1004 removed .........................................................................................3
3.4 Time-Out at SYNC monitoring extended................................................................3
4. Network Management................................................................................................3
4.1 Boot-Up message now uses guarding identifier.....................................................3
4.2 Heartbeat now supported .......................................................................................4
5. Miscellaneous: ...........................................................................................................4
5.1 Firmware-Update now via CANopen possible........................................................4
5.2 Firmware-Update via serial interface......................................................................4
5.3 Downgrading to firmware version BA .....................................................................4
1. PDO Behaviour
1.1 Default Identifier für PDO3 + 4
New: The Rx- and Tx-PDOs 3+4 now have default identifiers. The same identifiers are used
that so far have been assigned via object 0x5500. The Default mapping was not
changed and the PDOs are only activated if the corresponding process data is present.
Advantage: Now up to 12 analogue input and output channels can be used without the need to
activate the PDOs at boot-up via identifier distribution.
Effects when using new bus couplers in existing networks: none