Stober CANopen SD6, Operating Manual, Page: 33 / 65

STÖBER 9 | More about CANopen?
09/2019 | ID 442637.01
33
Peer-to-peer objects
Note that the node IDs of the node in question must be between 1 and 31, and for the disabled SDO channels SDO 2, 3 and
4 must be no greater than 127.
Object Function
code
COB-ID Communication parameter
(index)
Priority
CAN SD6
EMERGENC
Y
0001 80 hex + node
ID
81 hex – FF hex 129 – 255 1014 hex, 1015
hex
A207 High
TxPDO1 0011 180 hex + node
ID
181hex –
1FFhex
385 – 5115 1800 hex A229[0]
RxPDO1 0100 200 hex + node
ID
201hex –
27Fhex
513 – 639 1400 hex A221[0]
TxPDO2 0101 280 hex + node
ID
281hex –
2FFhex
641 – 767 1801 hex A230[0]
RxPDO2 0110 300 hex + node
ID
301hex –
37Fhex
769 – 895 1401 hex A222[0]
TxPDO3 0111 380 hex + node
ID
381hex –
3FFhex
897 – 1023 1802 hex A231[0]
RxPDO3 1000 400 hex + node
ID
401hex –
47Fhex
1025 – 1151 1402 hex A223[0]
TxPDO4 1001 480 hex + node
ID
481hex –
4FFhex
1153 – 1279 1803 hex A232[0]
RxPDO4 1010 500 hex + node
ID
501hex –
5FFhex
1281 – 1407 1403 hex A224[0]
TxSDO1 1011 580 hex + node
ID
581hex –
59Fhex
1409 – 1439 1200 hex —
RxSDO1 1100 600 hex + node
ID
601hex –
61Fhex
1537 – 1567 1200 hex —
TxSDO2 1011 5A0 hex + node
ID
5A1hex –
5BFhex
1441 – 1471 1201 hex A218[1]
RxSDO2 1100 620 hex + node
ID
621hex –
63Fhex
1539 – 1599 1201 hex A218[0]
TxSDO3 1011 5C0 hex + node
ID
5C1hex –
5DFhex
1473 – 1503 1202 hex A219[1]
RxSDO3 1100 640 hex + node
ID
641hex –
65Fhex
1601 – 1631 1202 hex A219[0]
TxSDO4 1011 5E0 hex + node
ID
5E1hex –
5FFhex
1505 – 1535 1203 hex A220[1]
RxSDO4 1100 660 hex + node
ID
661hex –
67Fhex
1633 – 1663 1203 hex A220[0] Low
ERROR
CONTROL
1110 700 hex + node
ID
701hex –
77Fhex
1793 – 1919 1016 hex, 1017
hex
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