turck BL20 - Page 149

D301087 0308 - BL20 CANopen 4-77
Object Dictionary
4
Structure of the COB-ID entry:
MSB LSB
Bits 31 30 29 28 to 11 10 to 0
11-bit ID
0/1 0/1 0 00 0000 0000 0000 0000 11-bit identifier
29-bit ID
0/1 0/1 1 29-bit identifier
Table 33:
Description of the
COB-ID entry
Bit number Value Meaning
31 (msb) 0 PDO exists / is valid
1
PDO does not exist / is invalid
30 0 RTR is possible in this PDO
1
RTR is not possible in this PDO
29 0 11-bit-ID (CAN 2.0A) (Standard appli-
cation)
1
29-bit-ID (CAN 2.0B)
28 to 11 0 if bit 29=0 (Standard application)
X
if bit 29=1: bits 28 to 11 of COB-ID
10 to 0 (lsb) X Bit 10 to 0 of COB-ID