9-10 Accessories & Options
MN1276
Identifiers and object list
The distribution of the identifiers of the supported objects conforms to Can Open
(DS301, V 3.0, S. 8--12).
Message / Object Function Code COB - Identifier Services
NMT Services 0 0 (broadcast)
Start_Remote_Node
Stop_Remote_Node
Pre-Operational-State
NMT_Reset_Node
NMT_Reset_Com
Sync. Emergency
1
1
128 (broadcast)
128 + Node_ID
Synchronization
Emergency (fault)
PDO1 (tx) 384 + Node_ID Transmit PDO (asynchronous)
PDO1 (rx) 512 + Node_ID Receive PDO (asynchronous)
PDO2 (tx) 640 + Node_ID Transmit PDO (synchronous)
PDO2 (rx) 768 + Node_ID Receive PDO (synchronous)
SDO (tx) 1408 + Node_ID Transmit SDO
SDO (rx) 1536 + Node_ID Receive SDO
Node guarding 1760 NMT node guarding
Node_ID is the node identifier, which is the card--address (set by switch AS1--4).
SDO Protocols (CMS Multiplexed Domain Protocols)
In CiA/DS202--2 CMS protocol specification, the following specifications of the
SDO COB identifier. This protocol specifies the meaning of the content of the 8
data bytes transferred within a CAN Message for the different domain protocols.
Byte 1
Protocol
Control Bits
Byte 2
Multiplexer or Data Bytes
index, lsb
Byte 3
index, msb
Byte 4
sub-index
Byte5toByte8
up to 4 Data Bytes
Data (byte 5 is lsb; byte 8 is msb)
Multiplexed: Same identifier, message indication by Index + Subindex
Expedited: Used, if data to be transported is less or equal 4 byte (long int, 32 Bit)
The following tables list the meaning / setting of the control bits of first byte (x =
not used, always 0) to select the protocol and the correspondent meaning of the
further 7 data bytes of the CAN frame.
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