Doc.Id. SCM-1200-121
Anybus Communicator CAN to CANopen
Doc.Rev. 1.00
Chapter 5
5. Data Representation on CANopen
5.1 General
The Anybus Communicator acts as a slave on the CANopen network. As such, it does not initiate com-
munication towards other nodes by itself, but can be read from/written to by a CANopen master.
5.2 Data Representation
On CANopen, the input and output data areas are represented as object entries in the manufacturer spe-
cific range (2000h...5FFFh). Separate object ranges are used for byte, word, and double-word access.
A portion of these objects may be exchanged as Process Data Objects (PDO). The Communicator sup-
ports up to 80 RPDOs and 80 TPDOs, each capable of carrying up to 8 bytes of data.
Which objects that can be exchanged this way depend on two factors:
• PDO Mapping
The objects that shall be exchanged as PDOs on the bus are specified (i.e. mapped) by the net-
work configuration tool.
If no mapping has been specified, the Communicator defaults to the following mapping scheme:
Data is by default mapped as UINT8.
RPDO no.
Default COB IDs
Mapped to...
Default State
Node ID 1... 63 Node ID >= 64
1
200h + Node ID 200h + Node ID Output Data buffer, bytes 0... 7
Enabled
2
300h + Node ID 300h + Node ID Output Data buffer, bytes 8...15
3
400h + Node ID 400h + Node ID Output Data buffer, bytes 16... 23
4
500h + Node ID 500h + Node ID Output Data buffer, bytes 24... 31
5
240h + Node ID 500h
Output Data buffer, bytes 32... 39 Disabled
6
340h + Node ID 500h
Output Data buffer, bytes 40... 47
7
440h + Node ID 500h
Output Data buffer, bytes 48... 55
8
540h + Node ID 500h
Output Data buffer, bytes 56... 63
9...80
500h
500h
-
Disabled
TPDO no.
Default COB IDs
Mapped to...
Default State
Node ID 1... 63 Node ID >= 64
1
180h + Node ID 180h + Node ID Input Data buffer, bytes 0... 7
Enabled
2
280h + Node ID 280h + Node ID Input Data buffer, bytes 8... 15
3
380h + Node ID 380h + Node ID Input Data buffer, bytes 16... 23
4
480h + Node ID 480h + Node ID Input Data buffer, bytes 24... 31
5
1C0h + Node ID 500h
Input Data buffer, bytes 32... 39
Disabled
6
2C0h + Node ID 500h
Input Data buffer, bytes 40... 47
7
3C0h + Node ID 500h
Input Data buffer, bytes 48... 55
8
4C0h + Node ID 500h
Input Data buffer, bytes 56... 63
9...80
500h
500h
-
Disabled
