Baumer GIM700DR Посібник - Сторінка 7

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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
1)
PDO1 (tx)
1)
PDO2 (tx)
1)
SDO (tx)
1)
SDO (rx)
Heartbeat
1)
LSS (tx)
1)
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 kbits/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 0
xxx
x
xx
The precise telegram is outlined in more detail at a later point.
Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx
27.04.21
COB-ID
0h
80h
COB-ID
80h + Node-ID
180h + Node-ID
280h + Node-ID
580h + Node-ID
600h + Node-ID
700h + Node-ID
7E4h
1): (tx) and (rx) from the viewpoint of the sensor
7E5h
Byte 1
Byte 2
xx
xx
Byte 3
Byte 4
Byte 5
xx
xx
xx
7/32
Byte 6
Byte 7
xx
xx
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