Baumuller b maXX 1000 - Page 173

PLCopen motion control
Parameter manual b maXX
®
1000
Document no. 5.07004.03
173
of 208
Predefined connection set
To be able to establish peer-to-peer communication between master and slave directly after boot-up, pre-
defined identifier assignment is available. This identifier assignment can be reconfigured by the user.
Identifier structure
From the 7 bits for the module IDs, a maximum number of 127 nodes results per CANopen network.
Peer-to-peer objects in accordance with the predefined connection set
Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Function code Node ID
Object Binary
function code
Resultant
COB ID
Object
NMT 0000 0
SYNC 0001 128 1005
hex
, 1006
hex
EMERGENCY 0001 129 – 255 1014
hex
, 1015
hex
PDO1(TX) 0011 385 – 511 1800
hex
PDO1(RX) 0100 513 – 639 1400
hex
PDO2(TX) 0101 641 – 767 1801
hex
PDO2(RX) 0110 769 – 895 1401
hex
PDO3(TX) 0111 896 – 1023 1802
hex
PDO3(RX) 1000 1025 – 1151 1402
hex
PDO4(TX) 1001 1153 – 1279 1803
hex
PDO4(RX) 1010 1281 – 1407 1403
hex
SDO(TX) 1011 1409 – 1535 1200
hex
SDO(RX) 1100 1537 – 1663 1200
hex
Nodeguard 1110 1793 – 1919 100C
hex
, 100D
hex