Beckhoff AX2000 CANopen communication profile Uživatelský manuál stáhnout pdf (Strana 16)

3.2 Construction of the COB Identifier

The following diagram shows the layout of the COB Identifier (COB-ID). The Function Code defines

the interpretation and priority of the particular Object.

109876543210

Code Module-ID

Bit 0 .. 6 Module ID (station number, range 1 ... 63; is set up in the operator software

or the servo amplifier, Þ 2.1.1)

Bit 7... 10 Function Code (number of the Communication Object that is defined in the server)

Attention:

If an invalid station number (=0 or >63) is set, then the module will be set internally to 1. The

ASCII Object MDRV can be used to expand the address range from 63 through to127.

The following tables show the default values for the COB Identifier after switching on the servo

amplifier. The objects, which are provided with an index (Communication Parameters at Index), can

have a new ID assigned after the initialization phase. The indices in brackets are optional.

Predefined broadcast Objects (send to all nodes):

Object

Function code

(binary)

Resulting COB-IDs

Communication parameters

at index

Dec. Hex.

NMT 0000 0 0

—

SYNC 0001 128 80

(1005

)

TIME 0010 256 100

—

Predefined Peer-to-Peer Objects (node sends to node):

Object

Function code

(binary)

Resulting COB-IDs Communication para-

meters

at index

Piority

Dec. Hex.

EMERGENCY 0001 129...255

...FF

—

high

TPDO 1 0011 385...511 181

...1FF

1800

RPDO 1 0100 513...639 201

...27F

1400

TPDO 2 0101 641...767 281

...2FF

1801

RPDO 2 0110 769...895 301

...37F

1401

TPDO 3 0110 897...1023 381

...3FF

1802

RPDO 3 1000 1025...1151 401

...47F

1402

TPDO 4 1001 1153...1279 481

...4FF

1803

RPDO 4 1010 1281...1407 501

...57F

1403

SDO (tx*) 1011 1409...1535 581

...5FF

SDO (rx*) 1100 1537...1663 601

...67F

Nodeguard 1110 1793...1919

701

...77F

(100E

)

low

* tx = direction of transmission: AX2xxx Þ Master

rx = direction of transmission: Master Þ AX2xxx

3.3 Definition of the used data types

This chapter defines the data types that are used. Each data type can be described by bit- sequen-

ces. These bit-sequences are grouped into “Octets” (bytes). The so-called “Little – Endian” for-

mat (a.k.a. Intel format) is used for numerical data types (see also: DS301 Application Layer “Gene-

ral Description of Data Types and Encoding Rules”).

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