Festo EMCA-EC-67 CO Series, Description

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D CANopen communication
324 Festo – EMCA-EC-C-HP-EN – 2017-11e – English
D.3.3 CAN identifier (CAN-ID), priority and internal cycle times
The table shows CAN identifiers CAN-ID (function code (4 Bit)/node number (Node-ID, 7 Bit)), internal
cycle time and priority dependent on the communication object (COB):
Communication
object (COB)
CAN-Identifier (CAN-ID) (11 bit)
Resulting
CAN-ID
Internal
cycle time
Priority
CAN-ID
Function
code Node number
(Node-ID)
10 9 8 7 6 5 4 3 2 1 0
MSB LSB
Broadcast objects
NMT 0 0 0 0 0 0 0 0 0 0 0 000
h

5 ms Highest
Lowest
SYNC 0 0 0 1 0 0 0 0 0 0 0 080
h
Peer-to-peer objects
EMCY 0 0 0 1 x x x x x x x 081
h
… 0FF
h

5 ms
TPDO1
1)
0 0 1 1 x x x x x x x 181
h
… 1FF
h
TPDO2
1)
0 1 0 1 x x x x x x x 281
h
… 2FF
h
TPDO3
1)
0 1 1 1 x x x x x x x 381
h
… 3FF
h
TPDO4
1)
1 0 0 1 x x x x x x x 481
h
… 4FF
h
RPDO1
1)
0 1 0 0 x x x x x x x 201
h
… 27F
h
RPDO2
1)
0 1 1 0 x x x x x x x 301
h
… 37F
h
RPDO3
1)
1 0 0 0 x x x x x x x 401
h
… 47F
h
RPDO4
1)
1 0 1 0 x x x x x x x 501
h
… 57F
h
SDO (tx)
1)
1 0 1 1 x x x x x x x 581
h
… 5FF
h
SDO (rx)
1)
1 1 0 0 x x x x x x x 601
h
… 67F
h
NMT: Error Control/
Node guarding
1 1 1 0 x x x x x x x 701
h
… 77F
h
NMT: Boot-up 1 1 1 0 x x x x x x x 701
h
… 77F
h
2)
1) All PDOs and one SDO are processed In the internal cycle time.
2) The Boot-up is always carried out one time after a Power ON or after a reset node (> 1 ms). After execution, a Boot-up message is
sent and the EMCA can be addressed again.
Tab. D.3 CAN identifier (CAN-ID), priority and internal cycle times
All NMT messages are received in a shared CAN Message buffer. Due to the internal pro­
cessing time, an NMT message with the CAN-ID 000h may only be sent every 5 ms.