Bits Value Description
Frame 0b 11-bit CAN ID valid (CAN base frame)
1b 29-bit CAN ID valid (extended CAN frame)
29-bit CAN ID x 29-bit CAN ID of the extended CAN frame
(CAN specification 2.0 B)
11-bit CAN ID x 11-bit CAN ID of the CAN base frame
(CAN specification 2.0 A)
10.3.10 CANopen services and CAN IDs
The following table shows a detailed overview of the available services with the asso‐
ciated CAN ID according to specification CiA 301. The display of the transmission
direction (Rx/Tx) is always from the point of view of the CANopen device.
Table 33: Representation of the CANopen services and the associated CAN IDs
Identifier 11-bit
(binary)
Identifier (decimal) Identifier (hexadeci‐
mal)
Function
00000000000 0 0h NMT
00010000000 128 80h SYNC
0001xxxxxxx 129 – 255 81h - FFh EMCY
00100000000 256 100h TIME
0010yyyyyyy 257 – 320 101h – 140h SRDO (Tx)
0010zzzzzzz 321 – 384 141h – 180h SRDO (Rx)
0011xxxxxxx 385 – 511 181h – 1FFh PDO1 (Tx)
512 200h Not implemented
0100xxxxxxx 513 – 639 201h – 27Fh PDO1 (Rx)
640 280h Not implemented
0101xxxxxxx 641 – 767 281h – 2FFh PDO2 (Tx)
768 300 Not implemented
0110xxxxxxx 769 – 895 301h – 37Fh PDO2 (Rx)
896 380h Not implemented
0111xxxxxxx 897 – 1023 381h – 3FFh PDO3 (Tx)
1024 400h Not implemented
1000xxxxxxx 1025 – 1151 401h – 47Fh PDO3 (Rx)
1152 480h Not implemented
1001xxxxxxx 1153 – 1279 481h – 4FFh PDO4 (Tx)
1280 500h Not implemented
1010xxxxxxx 1281 – 1407 501h – 57Fh PDO4 (Tx)
1408 580h Not implemented
1011xxxxxxx 1409 – 1535 581h – 5FFh SDO (Tx)
1536 600h Not implemented
1100xxxxxxx 1537 – 1663 601h – 67Fh SDO (Rx)
1664 – 1759 680h – 6DFh Not implemented
11011100000 1760 6E0h Dynamic SDO request
(Tx)
1761 – 1792 6E1h – 700h Not implemented
1110xxxxxxx 1793 – 1919 701h – 77Fh NMT error control
1920 – 2019 780h – 7E3h Not implemented
10 CANOPEN INTERFACE
58
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
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