MSA SUPREMA - Table 5-17: Calculation of the Node ID; Table 5-18: CAN-ID Assignment

REV 0, June 2005Page 128
Operation Manual SUPREMA
5. Installation
Calculation formula for the CAN Identifiers:
COBID
(Module)
= COBID + NID NID = (16
*
BGTID + SLNR)
NID = Node ID
BGTID = Rack number (-1)
SLNR = Slot number
COBID = CAN ID assignment (see table 5-18)
COBID
(Module)
= CAN Identifier for COBID of the Module
Node ID (NID) Slot No. (SLNR) Module
16 * Rack ID + 1 MCP 10 A
16 * Rack ID + 2 MCP 10 B
16 * Rack ID + 3 MCP 10 C
16 * Rack ID + 4 MDA 10 A, ...
16 * Rack ID + 5 MDA 10 B, ...
16 * Rack ID + 6 ... 15 MGO 10, MGI 10, MAO 10, ...
16 * Rack ID + 16 MDO 10
Table 5-17: Calculation of the Node ID
Message COB-ID
(Module)
COB-ID
(Module)
Purpose COB-ID (hex)
(dec) (hex) Range
NMT-Start/Stop 0 0 Start and Stop of nodes 0
SYNC 128 80 Synchronisation 80
EMERGENCY 128+NID 80+NID Failure message (128+Node-ID) 81-FF
TIME STAMP 256 100 Time Stamp 100
PDO1(rx) 384+NID 100+NID Digital Input (256+Node-ID) 181-1FF
PDO1(tx) 512+NID 200+NID Digital Output (512+Node-ID) 201-27F
PDO2(rx) 640+NID 280+NID Analogue Input (640+Node-ID) 281-2FF
PDO2(tx) 768+NID 300+NID Analogue Output (768+Node-ID) 301-37F
SDO(rx) 1408+NID 580+NID Reading from object directory (1408+Node-ID) 581-5FF
SDO(tx) 1538+NID 600+NID Writing in object directory (1536+Node-ID) 601-67F
Nodeguard 1792+NID 700+NID Network control (1792+Guard-ID) 701-77F
Table 5-18: CAN-ID Assignment
Note: One filter must be set for NET0 to NET1 and one mask must be set for
NET1 to NET2.
Standard Identifiers are needed, which must be present in any filter, these are:
for NET 0: 0, 80, 100.
(All numbers are shown in hexadecimal)