Baumer GIM500R Manuel - Page 7

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CANopen message structure

3.3.2

The first part of a message is the COB ID (Identifier).

Structure of the 11-bit COB ID:

Function code

4-bit function code

The function code provides information on the type of message and priority

The lower the COB ID, the higher the priority of the message

Broadcast messages:

Function code

NMT

SYNC

Peer to peer messages:

Function code

Emergency

PDO1 (tx)

PDO2 (tx)

SDO (tx)

SDO (rx)

Heartbeat

LSS (tx)

LSS (rx)

The node ID can be freely selected by means of the CANopen bus between 1 and 127.

The sensors are supplied with the Node ID 1 and baud rate 50 kBit/s.

This can be changed with the service data object 2101h or object 2100h or using LSS.

A CAN telegram is made up of the COB ID and up to 8 bytes of data:

COB ID DLC

Byte 1

Xxx

The precise telegram is outlined in more detail at a later point.

Baumer_GIM500R_CANopen_MA_EN.docx

03.19

Node ID

7-bit node ID

COB ID

80h

COB ID

80h + Node ID

180h + Node ID

280h + Node ID

580h + Node ID

600h + Node ID

700h + Node ID

7E4h

7E5h

1): (tx) and (rx) from the viewpoint of the sensor

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

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Byte 7

Byte 8