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CANopen External Communication Cards
POWERXL SERIES VFD MN040010EN—June 2018 www.eaton.com
Predefined connection set
CANopen pre-defines some communication objects and their connection set (DS301).
Table 128. Predefined connection set
Object Function Code COB-ID Comm. Parameter Index
NMT 0000 0x0000
Emergency 0010 0x0080+Node ID (Hex)
TxPDO1 0011 0x0180+Node ID (Hex) 0x1800
RxPDO1 0100 0x0200+Node ID (Hex) 0x1400
TxPDO2 0101 0x0280+Node ID (Hex) 0x1801
RxPDO2 0110 0x0300+Node ID (Hex) 0x1401
TxPDO3 0111 0x0380+Node ID (Hex) 0x1802
RxPDO3 1000 0x0400+Node ID (Hex) 0x1402
TxPDO4 1001 0x0480+Node ID (Hex) 0x1803
RxPDO 4 1010 0x0500+Node ID (Hex) 0x1403
SDO-TX 1011 0x0580+Node ID (Hex) 0x1200-01
SDO-RX 1100 0x0600+Node ID (Hex) 0x1200-02
Node Guarding 1110 0x0700+Node ID (Hex) 0x100E
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