PN/CAN Gateway, PROFINET/CANopen Slave | Version 2 | 1/26/2021
17
5.3.2
CANopen functions
The CANopen functions are subdivided into the following basic types:
•
SDO read and SDO write operations
•
PDO send and PDO receive operations
•
Network management
•
Emergency messages
The function code is stored in the upper four bits of the CAN identifier, which, together with the node
ID, forms the communication object identifier, or COB-ID. CANopen normally uses CAN bus frames
with 11-bit identifiers (CAN 2.0A).
COB identifier (COB-ID):
10
9
8
7
6
5
4
3
2
1
0
Function
Node ID
Broadcast functions:
Function
Function code (binary)
Resulting COB-ID
NMT
0000
0
hex
SYNC
0001
80
hex
TIME STAMP
0010
100
hex
Node functions:
Function
Function code (binary)
Resulting COB-ID
EMERGENCY
0001
81
hex
– FF
hex
TPDO1 (tx)
0011
181
hex
– 1FF
hex
RPDO1 (rx)
0100
201
hex
– 27F
hex
TPDO2 (tx)
0101
281
hex
– 2FF
hex
RPDO2 (rx)
0110
301
hex
– 37F
hex
TPDO3 (tx)
0111
381
hex
– 3FF
hex
RPDO3 (rx)
1000
401
hex
– 47F
hex
TPDO4 (tx)
1001
481
hex
– 4FF
hex
RPDO4 (rx)
1010
501
hex
– 57F
hex
SDO (tx)
1011
581
hex
– 5FF
hex
SDO (rx)
1100
601
hex
– 67F
hex
NMT error control
1110
701
hex
– 77F
hex
"tx" = transmitted by the slave
"rx" = received by the slave
