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03.19
3.3.2
CANopen message structure
The first part of a message is the COB ID (Identifier).
Structure of the 11-bit COB ID:
Function code Node ID
4-bit function code 7-bit node ID
The function code provides information on the type of message and priority
The lower the COB ID, the higher the priority of the message
Broadcast messages:
Function code COB ID
NMT 0
SYNC 80h
Peer to peer messages:
Function code COB ID
Emergency 80h + Node ID
PDO1 (tx) 1) 180h + Node ID
PDO2 (tx) 1) 280h + Node ID
SDO (tx) 1) 580h + Node ID
SDO (rx)
1)
600h + Node ID
Heartbeat 700h + Node ID
LSS (tx) 1) 7E4h
LSS (rx) 1) 7E5h 1): (tx) and (rx) from the viewpoint of the sensor
The node ID can be freely selected by means of the CANopen bus between 1 and 127.
The sensors are supplied with the Node ID 1 and baud rate 50 kBit/s.
This can be changed with the service data object 2101h or object 2100h or using LSS.
A CAN telegram is made up of the COB ID and up to 8 bytes of data:
COB ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Xxx x xx xx xx xx xx xx xx xx
The precise telegram is outlined in more detail at a later point.