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 JD 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）
Receive PDO of servo means servo receive data,and these data are sent by PLC.The function codes of
receive PDO(COB-ID) are as follows:
1、 0x200+ Station No. of Servo
2、 0x300+ Station No. of Servo
3、 0x400+ Station No. of Servo
4、 0x500+ Station No. of Servo
JD servo is designed according to the standard of CANopen 2.0A protocol,and it also supports CANopen
2.0B protocol.Therefore,if 8 PDOs are not enough,users can define new PDO,for example,set 0x43FH as the
communication PDO of Station No.1,but it needs the controllers and servo define PDO by the same rule.
PDO transmission types:
PDO supports two transmission mode:
SYNC: Transmission is triggered by the synchronization message（Transmission type:0-240）
In this transmission mode, controller must have the ability to send synchronous messages（The message is
sent periodically at a maximum frequency of 1KHz）,and servo will send after receiving the synchronous
message.
Acyclic:Pre-triggered by remote frame,or by specific event of objects speicficed by the equipment
sub-protocol.In this mode,servo will send out data as soon as receiving the data of synchronous message
PDO.
Cyclic:Triggered after sending 1 to 240 SYNC messages.In this mode,servo will send out data in PDO after
receiving n SYNC messages.
ASYNC(Transmission Type:254/255):
Slave sends out message automatically as soon as the data change,and it can define an interval time
between two messages which can advoid the one in high priority always sending message.(The smaller
number of PDO,the higher its priority)
PDO Inhibit Time:
Each PDO can define an inhibit time,that is the minimum interval time between two continuous PDO
transmission.It is used to advoid the PDO in higher priority always occupying the communication.The inhibit
time is 16bit unsigned integer,its unit is 100us.
Protection mode（Supervision type）
Supervision type is to choose which way master uses to check slave during operation,and check whether
slave is error or not and handle the error.
Heartbeat message:Slave send message to master cyclically during supervision time.If master hasn’t
received the message from slave after heartbeat time,then master will consider slave as error.
Message format
(0x700+NodeID)+Status
Status：
0：Start 4:Stop 5:Run 127:Pre-operational
Node Guarding: Slave send message to master cyclically during supervision time.If master hasn’t received
the message from slave after supervision time,then master will consider slave as error.
The format of master request message:
（0x700+NodeID）（ No data in this message）
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