SICK DL100 Pro CANopen - Structure of 11-Bit CAN ID; Identifier Priority

Data Field: User data (0-8bytes) Data field 0-64
CRC Seq.: CRC Sequence CRC Seq. 15
CRC Del.: CRC Delimiter CRC Del. 1
ACK Slot: Acknowledge Slot ACK Slot 1
ACK Del.: Acknowledge Delimiter ACK Del. 1
EOF: End of Frame EOF 7
10.3.6 Structure of 11-bit CAN ID
NOTE
The device supports only 11-bit CAN IDs.
The 11-bit CAN ID is composed of the function code (see specification CiA 301) and the
node ID.
Table 29: Structure of the 11-bit CAN ID
MSB LSB
10 9 8 7 6 5 4 3 2 1 0
11-bit CAN ID
Function code Node ID
MSB LSB
Example for Transmit SDO with node ID 6
The Transmit SDO object has function code 1011b. Combining this with node ID 6
(0110b) results in a CAN ID with the value 586h.
Table 30: Example of Transmit SDO object
MSB LSB
10 9 8 7 6 5 4 3 2 1 0
11-bit CAN ID
Function code Node ID
1 0 1 1 0 0 0 0 1 1 0
5h 8h 6h
MSB LSB
10.3.7 Identifier priority
The lower the CAN ID, the higher the priority of the telegram. The following figure shows
the distribution and priority of the CAN identifiers.
10 CANOPEN INTERFACE
56
O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen 8015418/19HA/2022-12-15 | SICK
Subject to change without notice