E-4
E.1.3 Pre-Defined Connection Set
To reduce configuration effort for simple networks, CANopen define a mandatory default
identifier allocation scheme. The 11-bit identifier structure in predefined connection is set as
follows:
COB Identifier (CAN Identifier)
10 9 8 7 6 5 4 3 2 1 0
Function Code Node Number
Object Function Code Node Number COB-ID Object Dictionary
Index
Broadcast messages
NMT 0000 - 0 -
SYNC 0001 - 0x80 0x1005, 0x1006,
0x1007
TIME STAMP 0010 - 0x100 0x1012, 0x1013
Point-to-point messages
Emergency 0001 1-127 0x81-0xFF 0x1014, 0x1015
TPDO1 0011 1-127 0x181-0x1FF 0x1800
RPDO1 0100 1-127 0x201-0x27F 0x1400
TPDO2 0101 1-127 0x281-0x2FF 0x1801
RPDO2 0110 1-127 0x301-0x37F 0x1401
TPDO3 0111 1-127 0x381-0x3FF 0x1802
RPDO3 1000 1-127 0x401-0x47F 0x1402
TPDO4 1001 1-127 0x481-0x4FF 0x1803
RPDO4 1010 1-127 0x501-0x57F 0x1403
Default SDO (tx) 1011 1-127 0x581-0x5FF 0x1200
Default SDO (rx) 1100 1-127 0x601-0x67F 0x1200
NMT Fault
Control
1110 1-127 0x701-0x77F 0x1016, 0x1017
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