Cob-ids acc. to ds301 ( 26), Control technology | canopen communication manual – Lenze CANopen control technology User Manual
Page 26
Control technology | CANopen communication manual
Planning the CANopen network
26
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DMS 4.2 EN 07/2011 TD17
COB-IDs acc. to DS301
Observe device-specific information on CAN configuration provided in the
documentation of the field devices to be integrated.
Object
Direction
Basic identifier
from the drive
to the drive
Dec
Hex
NMT
0
0
Sync
128
80
Time Stamp
256
100
Emergency
z
128
80
PDO1
(process data channel 1)
TPDO1
z
384
180
RPDO1
z
512
200
PDO2
(process data channel 2)
TPDO2
z
640
280
RPDO2
z
768
300
PDO3
(process data channel 3)
TPDO3
z
896
380
RPDO3
z
1024
400
PDO4
(process data channel 4)
TPDO4
z
1152
480
RPDO4
z
1280
500
SDO
(parameter data channel 1)
z
1408
580
z
1536
600
NMT Error Control
z
1792
700
Note!
In system bus (CAN) devices, two SDO channels are permanently active, in
CANopen devices, only one by default.
When using CANopen devices, activate a second SDO channel for accesses of the
»Engineer« or »Global Drive Control«. Otherwise the communication with the
device will be interfered if you go online with the »Engineer« or the »Global
Drive Control«, while the IPC has also access.