IL•1F CANopen DS301 | 3 Basics |
0198441113586, V2.01, 11.2008
COB IDs of the communication The following table shows the COB IDs of all communication objects objects with the factory settings. The column "Index of object parameters"
shows the index of special objects with which the settings of the com- munication objects can be read or modified via an SDO.
Communication object | Function | Node address, |
| COB ID decimal (hexadecimal) | Index of object | ||||||||
| code | node ID [1...127] |
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NMT Start/Stop Service | 0 0 0 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| 0 | 0 (0h) |
| - | |
SYNC object | 0 0 0 1 | 0 | 0 | 0 | 0 | 0 | 0 |
| 0 | 128 | (80h) | 1005h....1007h | |
EMCY object | 0 0 0 1 | x x | x x | x x x | 128 | (80h) + node ID | 1014h, 1015h | ||||||
T_PDO1 1) | 0 0 1 1 | x x | x x | x x x | 384 | (180h) + node ID | 1800h | ||||||
R_PDO1 1) | 0 1 0 0 | x x | x x | x x x | 512 | (200h) + node ID | 1400h | ||||||
T_PDO2 1) | 0 1 0 1 | x x | x x | x x x | 640 | (280h) + node ID | 1801h | ||||||
R_PDO2 1) | 0 1 1 0 | x x | x x | x x x | 768 | (300h) + node ID | 1401h | ||||||
T_PDO3 1) | 0 1 1 1 | x x | x x | x x x | 896 | (380h) + node ID | 1802h | ||||||
R_PDO3 1) | 1 0 0 0 | x x | x x | x x x | 1024 | (400h) + node ID | 1402h | ||||||
T_PDO4 | 1 0 0 1 | x x | x x | x x x | 1152 | (480h) + node ID | 1803h | ||||||
R_PDO4 | 1 0 1 0 | x x | x x | x x x | 1280 | (500h) + node ID | 1403h | ||||||
T_SDO | 1 0 1 1 | x x | x x | x x x | 1408 | (580h) + node ID | - | ||||||
R_SDO | 1 1 0 0 | x x | x x | x x x | 1536 | (600h) + node ID | - | ||||||
NMT error control | 1 1 1 0 | x x | x x | x x x | 1792 | (700h) + node ID |
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LMT Services 1) | 1 1 1 1 | 1 | 1 | 0 0 | 1 0 | x | 2020 | (7E4h), 2021 (7E5h) |
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NMT Identify Service 1) | 1 1 1 1 | 1 | 1 | 0 0 | 1 1 | 0 | 2022 | (7E6h) |
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DBT Services 1) | 1 1 1 1 | 1 | 1 | 0 0 | x x x | 2023 | (7E7h), 2024 (7F8h) |
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NMT Services 1) | 1 1 1 1 | 1 | 1 | 0 1 | 0 0 | x | 2025 | (7E9h), 2026 (7EAh) |
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1) Not supported by the device
Table 3.4 COB IDs of all communication objects
COB IDs of PDOs can be changed as required. The assignment pattern for COB IDs only specifies a basic setting.
Function code The function code classifies the communication objects. Since the bits of the function code in the COB ID are more significant, the function code simultaneously controls the transmission priorities: Objects with a lower function code are transmitted with higher priority. For example, an object with function code "1" is transmitted prior to an object with func- tion code "3" in the case of simultaneous bus access.
Node address Every network device is configured before it is operated on the network. The device is assigned a 7 bit node address (node ID) between 1 (01h) and 127 (7Fh). The device address "0" is reserved for "broadcast" trans- missions which are used to send messages to all devices simultane- ously.
Fieldbus interface | 23 |