PN/CAN Gateway, PROFINET/CANopen Slave | Version 2 | 1/26/2021 17
5.3.2 CANopen functions
The CANopen functions are subdivided into the following basic types:
• SDO read and SDO write operations
• PDO send and PDO receive operations
• Network management
• Emergency messages
The function code is stored in the upper four bits of the CAN identifier, which, together with the node
ID, forms the communication object identifier, or COB-ID. CANopen normally uses CAN bus frames
with 11-bit identifiers (CAN 2.0A).
COB identifier (COB-ID):
10 9 8 7 6 5 4 3 2 1 0
Function Node ID
Broadcast functions:
Function Function code (binary) Resulting COB-ID
NMT 0000 0
hex
SYNC 0001 80
hex
TIME STAMP 0010 100
hex
Node functions:
Function Function code (binary) Resulting COB-ID
EMERGENCY 0001 81
hex
– FF
hex
TPDO1 (tx) 0011 181
hex
– 1FF
hex
RPDO1 (rx) 0100 201
hex
– 27F
hex
TPDO2 (tx) 0101 281
hex
– 2FF
hex
RPDO2 (rx) 0110 301
hex
– 37F
hex
TPDO3 (tx) 0111 381
hex
– 3FF
hex
RPDO3 (rx) 1000 401
hex
– 47F
hex
TPDO4 (tx) 1001 481
hex
– 4FF
hex
RPDO4 (rx) 1010 501
hex
– 57F
hex
SDO (tx) 1011 581
hex
– 5FF
hex
SDO (rx) 1100 601
hex
– 67F
hex
NMT error control 1110 701
hex
– 77F
hex
"tx" = transmitted by the slave
"rx" = received by the slave
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