Kinco FD5P AC series servo
(CANopen 2.0B protocol COB-ID is 27 bits), including a 4-bit function code part and a 7-
bit node ID (Node-ID) section, as shown in Figure 10-4.
Figure 10-4 Default ID explanation diagram
Node-ID ——Defined by the system integrator, for example, set by the DIP switch on the
device (that is, the station number of the servo), the Node-ID range is 1~127 (0 is not allowed
to be used)
；
Function Code ——The function code of data transmission defines the transmission level
of various PDOs, SDOs, and management messages. The smaller the function code, the
higher the priority.
Table 10-18 CANopen predefined master/slave connection set CAN identifier assignment table
Broadcast object for CANopen predefined master/slave connection set
Function code（ID-bits 9-7）
Index of communication parameters in OD
Peer object for CANopen master/slave connection set
Function code（ID-bits 9-7）
Index of communication parameters in OD
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