Chapter 4. Data Communication Protocol of the CANopen
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Chapter 4. Data Communication Protocol of the
CANopen
4.1 Communication Protocol of the CANopen
4.1.1 CAN-ID
In the Sinus H CANopen, only CAN2.0A (Standard) is supported.
As the CAN2.0A is implemented, the ID comprises 11Bits.
The figure below shows the configuration of the ID.
The table below presents the Broadcast Function code.
Note) As COB - Communication Object, it is an integral part of CAN
Message Frame showing the unit transmitted by CAN Network.
The table below presents the function code for peer to peer.
COB
Function
code
Resulting CAN-IDs
EMCY
0001b
129(0x81)~255(0xFF)
PDO1 (tx)
0011b
385(0x181)~511(0x1FF)
PDO1 (rx)
0100b
513(0x201)~639(0x27F)
PDO3 (tx)
0111b
897(0x381)~1023(0x3FF)
PDO3 (tx)
1000b
1025(0x401)~1151(0x47F)
SDO (tx)
1011b
1409(0x581)~1535(0x5FF)
SDO (rx)
1100b
1537(0x601)~1663(0x67F)
COB
Function
code
Resulting CAN-IDs
NMT
0000b
0 (0x000)
SYNC
0001b
128 (0x080)
TIME
0010b
256 (0x100)
