Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 13)

COB Type Bits 8 - 11 of COB-ID ID Range

NMT 0000 0

SYNC 0001 128 (80h)

Time Stamp 0010 256 (100h)

Emergency 0001 129…255 (81h…ffh)

PDO1 - Transmit 0011 385…511 (181h…1ffh)

PDO1 - Receive 0100 513…639 (201h…27fh)

PDO2 - Transmit 0101 641…767 (281h…2ffh)

PDO2 - Receive 0110 769…895 (301h…37fh)

PDO3 - Transmit 0111 897…1023 (381h…3ffh)

PDO3 - Receive 1000 1025…1151 (401h…47fh)

PDO4 - Transmit 1001 1153…1279 (481h…4ffh)

PDO4 - Receive 1010 1281…1407 (501h…57fh)

SDO - Transmit 1011 1409…1535 (581h…5ffh)

SDO - Receive 1100 1537…1663 (601h…67fh)

Error control (node guarding) 1110 1793…1919 (701h…77fh)

Table 2-2: COB Types

Example:

The COB-ID of PDO1, when received by node #2, is binary 01000000010, which is

decimal 514, or 202 hexadecimal. The IDs of the servo drives are set in the range 1…127.

2.8 Object Dictionary - Data Types

The Elmo CAN controller supports the following data types:

Index Object Name

0002 DEFTYPE Integer8

0003 DEFTYPE Integer16

0004 DEFTYPE Integer32

0005 DEFTYPE Unsigned8

0006 DEFTYPE Unsigned16

0007 DEFTYPE Unsigned32

0008 DEFTYPE Floating Point (Float)

0009 DEFTYPE Visible String

0020 DEFSTRUCT PDO CommPar

0021 DEFSTRUCT PDO Mapping

0022 DEFSTRUCT SDO Parameter

CANopen DS 301 Implementation Guide CANopen Basics

MAN-CAN301IG (Ver. 2.1)

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Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 13