turck BL20 - Identifier for the Standard Objects; Node-ID; COB-ID (Communication Object Identifier)

BL20 - Communication in CANopen
D301087 0308 - BL20 CANopen4-10
Identifier for the Standard Objects
Node-ID
The identifier for each device in a CANopen network is the Node-ID.
The CANopen slaves can be assigned the Node-IDs 1 to 127
("Node-ID Setting", page 3-24).
COB-ID (Communication Object Identifier)
The identifier for each communication object in a CANopen network
is the COB-ID.
The COB-IDs for the standard objects (digital input, digital output,
analog input, analog output) are assigned automatically.
The ranges for the COB-IDs are defined by the "Predefined Master-
Slave Connection Set".
Each range for the COB-IDs has 127 numerical values.
The COB-IDs are calculated according to the following rule:
COB-ID = Base-ID + Node-ID
Base-ID (decimal): 128; 384; 512; 640; 768; 896; 1024; 1152;
1280; 1408; 1536; 1792
Node-ID (decimal): 1 to 127
Table 2:
Identifiers for
basic objects
COB-ID Function Application
dec. hex.
0000
hex
Network Management
(NMT)
Broadcast object
01 to 127 001
hex
to
07F
hex
free
128 080
hex
Synchronization (SYNC) Broadcast object
129 to
255
081
hex
to
0FF
hex
Emergency Message
256 100
hex
Timestamp Message Broad-
cast object
257 to
384
101
hex
to
180
hex
free