VIPA System 200V IM Series, Manual, Page: 209 / 348

Manual VIPA System 200V
Chapter 5 CANopen
HB97E - IM - Rev. 06/29 5-55
The most important communication parameter of a PDOs is the
CAN identifier (also called "Communication Object Identifier", COB-ID). It
serves the identification of the data and sets the priority of bus access.
For every CAN data telegram only one sending node may exist (producer).
Due to the ability of CAN to send all messages per broadcast procedure,
however, a telegram may be received by several bus participants at the
same time (consumer). Therefore, one node may deliver its input
information to different bus stations similarly - without needing the pass
through a logical bus master.
The System 200V provides receive and transmit PDOs default identifier in
dependence of the node address.
Below follows a list of the COB identifiers for the receive and the transmit
PDO transfer that are pre-set after boot-up.
The transmission type in the object directory (indices 0x1400-0x1409 and
0x1800-0x1809, sub-index 0x02) is preset to asynchronous, event con-
trolled (= 0xFF). The EVENT-timer (value * 1ms) can be used to transmit
the PDOs cyclically.
Send:
0x180 + module-ID: PDO1S2M digital (acc. DS-301)
0x280 + module-ID: PDO2S2M analog
0x380 + module-ID: PDO3S2M digital or analog
0x480 + module-ID: PDO4S2M
0x680 + module-ID: PDO5S2M
0x1C0 + module-ID: PDO6S2M
0x2C0 + module-ID: PDO7S2M
0x3C0 + module-ID: PDO8S2M
0x4C0 + module-ID: PDO9S2M
0x6C0 + module-ID: PDO10S2M
Receive:
0x200 + module-ID: PDO1M2S digital (acc. DS-301)
0x300 + module-ID: PDO2M2S analog
0x400 + module-ID: PDO3M2S digital or analog
0x500 + module-ID: PDO4M2S
0x780 + module-ID: PDO5M2S
0x240 + module-ID: PDO6M2S
0x340 + module-ID: PDO7M2S
0x440 + module-ID: PDO8M2S
0x540 + module-ID: PDO9M2S
0x7C0 + module-ID: PDO10M2S
PDO identifier
COB-ID