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0198441113586, V2.01, 11.2008
IL•1F CANopen DS301 3 Basics
Fieldbus interface 23
COB IDs of the communication
objects
The following table shows the COB IDs of all communication 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.
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 (01
h
)
and 127 (7F
h
). The device address "0" is reserved for "broadcast" trans-
missions which are used to send messages to all devices simultane-
ously.
Communication object Function
code
Node address,
node ID [1...127]
COB ID decimal (hexadecimal) Index of object
parameters
NMT Start/Stop Service 0 0 0 0 0 0 0 0 0 0 0 0 (0
h
)-
SYNC object 0 0 0 1 0 0 0 0 0 0 0 128 (80
h
) 1005
h
....1007
h
EMCY object 0 0 0 1 x x x x x x x 128 (80
h
) + node ID 1014
h
, 1015
h
T_PDO1
1)
0 0 1 1 x x x x x x x 384 (180
h
) + node ID 1800
h
R_PDO1
1)
0 1 0 0 x x x x x x x 512 (200
h
) + node ID 1400
h
T_PDO2
1)
0 1 0 1 x x x x x x x 640 (280
h
) + node ID 1801
h
R_PDO2
1)
0 1 1 0 x x x x x x x 768 (300
h
) + node ID 1401
h
T_PDO3
1)
0 1 1 1 x x x x x x x 896 (380
h
) + node ID 1802
h
R_PDO3
1)
1 0 0 0 x x x x x x x 1024 (400
h
) + node ID 1402
h
T_PDO4 1 0 0 1 x x x x x x x 1152 (480
h
) + node ID 1803
h
R_PDO4 1 0 1 0 x x x x x x x 1280 (500
h
) + node ID 1403
h
T_SDO 1 0 1 1 x x x x x x x 1408 (580
h
) + node ID -
R_SDO 1 1 0 0 x x x x x x x 1536 (600
h
) + node ID -
NMT error control 1 1 1 0 x x x x x x x 1792 (700
h
) + node ID
LMT Services
1)
1 1 1 1 1 1 0 0 1 0 x 2020 (7E4
h
), 2021 (7E5
h
)
NMT Identify Service
1)
1 1 1 1 1 1 0 0 1 1 0 2022 (7E6
h
)
DBT Services
1)
1 1 1 1 1 1 0 0 x x x 2023 (7E7
h
), 2024 (7F8
h
)
NMT Services
1)
1 1 1 1 1 1 0 1 0 0 x 2025 (7E9
h
), 2026 (7EA
h
)
1) Not supported by the device