Kinco CD3 Series - Page 117

Kinco FD3&CD3 User Manual
113
No.).The range of Node-ID is 1~127(0 is forbidden).
Function Code:The function code for data transmission define the transmission level of PDO,SDO and management
message.The smaller the function code,the higher the priority.
The allocation table for CAN identifiers in master/slave connection set predefined by CANopen is as follows:
Broadcast objects
Object
Function code
（ID-bits 10-7）
COB-ID
Index of
communication
parameter in OD
NMT Module Control
0000
000H
-
SYNC
0001
080H
1005H，
1006H，1007H
TIME SSTAMP
0010
100H
1012H，1013H
Reciprocity objects.
Object
Function code
（ID-bits 10-7）
COB-ID
Index of
communication
parameter in OD
Emergency
0001
081H-0FFH
1024H
，
1015H
PDO1(Send)
0011
181H-1FFH
1800H
PDO1(Receive)
0100
201H-27FH
1400H
PDO2(Send)
0101
281H-2FFH
1801H
PDO2(Receive)
0110
301H-37FH
1401H
PDO3(Send)
0111
381H-3FFH
1802H
PDO3(Receive)
1000
401H-47FH
1402H
PDO4(Send)
1001
481H-4FFH
1803H
PDO4(Receive)
1010
501H-57FH
1403H
SDO(Send/Server)
1011
581H-5FFH
1200H
SDO(Receive/Client)
1100
601H-67FH
1200H
NMT Error Control
1110
701H-77FH
1016H-1017H
Note:
1. The smaller the COB-ID,the higher the priority.
2. The function codes of COB-ID in every level are fixed.
3. COB-ID of 00H, 80H, 100H, 701H-77FH, 081H-0FFH are system management format.
The COB-ID supported by FD2S Servo:
Send PDO（TXPDO）
Send PDO of servo means servo sends out data,and these data are received by PLC.The function codes
of send PDO (COB-ID) are as follows:
1、 0x180+Station No. of Servo
2
、
0x280+ Station No. of Servo
3
、
0x380+ Station No. of Servo
4、 0x480+ Station No. of Servo
Receive PDO（RXPDO）