Motion iWMC Series - Page 49

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Figure 7-12 Default ID allocaon table
Node-ID ——Dened by the driver, set by the device staon number, the number Node-ID range is 1~127 (0 is not
allowed to be used);
Funcon Code ——The funcon code for data transmission dene the transmission level of PDO, SDO and
management message. The smaller the funcon code, the higher the priority.
Table7-13 The allocaon table for CAN ideners in master/slave connecon set predened by CANOpen
CANOpen predenes the broadcast object for the master/slave connecon set
Object
Funcon code (ID-bits 9-7)
COB-ID
The index of the
communicaon parameter in
OD
NMT Module Control
0000
000H
-
SYNC
0001
080H
1005H, 1006H, 1007H
TIME SSTAMP
0010
100H
1012H, 1013H
CANOpen a peer object for the master/slave connecon set
Object
Funcon code (ID-bits 9-7)
COB-ID
The index of the
communicaon 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;