TR-Electronic LA-46-K/LMRI-46, User Manual, Page: 109 / 183

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01/20/2017 TR - ELA - BA - DGB - 0016 - 04 Page 109 of 183
3.3 Object Dictionary
The object dictionary structures the data of a CANopen device in a clear tabular
arrangement. It contains all device parameters as well as all current process data,
which are accessible thereby also about the SDO.
Figure 4: Structure of the Object Dictionary
3.4 CANopen default identifier
CANopen devices can be used without configuration in a CANopen network. Just the
setting of a bus address and the baud rate is required. From this node address the
identifier allocation for the communication channels is derived.
COB-Identifier = Function Code + Node-ID
10 0
1 2 3 4 1 2 3 4 5 6 7
Function Code Node-ID
Examples
Object Function Code COB-ID Index Communication Parameter
NMT 0000bin 0
–
SYNC 0001bin 80h 1005h
PDO1 (tx) 0011bin 181h
– 1FFh
1800h