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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)
1)
PDO2 (tx)
1)
SDO (tx)
1)
SDO (rx)
1)
Heartbeat
LSS (tx)
1)
LSS (rx)
1)
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
x
xx
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
0
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
xx
xx
Byte 4
Byte 5
Byte 6
xx
xx
xx
7/29
Byte 7
Byte 8
xx
xx
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