User Manual

Communication over CANopen
Fieldbuses
Function Manual, 04/2018, FW V4.7 SP10, A5E34229197B AE
171
COB ID for individual communication objects
You will find the specifications for the COB IDs of the individual communication objects
below:
•
COB ID
NMT
= 0
Cannot be changed
•
COB ID
SYNC
= free
Pre
-assigned with 80 hex
•
COB ID
EMCY
= free
80 hex + NAlleode
-ID = COB ID
EMCY
•
COB ID
TPDO
= free
In the free PDO mapping *)
•
COB ID
RPDO
= free
In the free PDO mapping *)
•
COB ID
TSDO
=
580 hex + node ID
•
COB-ID
RSDO
=
600 hex + node ID
•
COB ID
Node Guarding/Heartbeat
= 700 hex + node ID
*)
Predefined connection set (Page 182)