ifm
System Manual
ecomat
mobile
PDM360NG (CR1080, CR1081, CR9042) Target V01
2011-07-28
Annex
CANopen tables
423
Function code / Predefined Connectionset
9966
In the "CANopen Predefined Connectionset" some function codes are predefined.
When using the predefined connectionset you can operate a CANopen network of up to
127 participants without the risk of a double assignment of COB IDs.
Broadcast or multicast messages:
Communication object
Function code
[hex]
COB ID [hex]
Related parameter objects [hex]
NMT 0
000
SYNC
1
080
1005, 1006, 1007, 1028
TIME 2
100
1012,
1013
Point-to-point messages:
Communication object
Function code
[hex]
COB ID [hex]
Related parameter objects [hex]
EMERGENCY
1
080 + node ID
1014, 1015
TPDO1 (TX)
3
180 + node ID
1800
RPDO1 (RX)
4
20016 + node ID
1400
TPDO2 (TX)
5
280 + node ID
1801
RPDO2 (RX)
6
30016 + node ID
1401
TPDO3 (TX)
7
380 + node ID
1802
RPDO3 (RX)
8
400 + node ID
1402
TPDO4 (TX)
9
480 + node ID
1803
RPDO4 (RX)
A
500 + node ID
1403
Default SSDO (TX)
B
58016 + node ID
1200
Default CSDO (RX)
C
60016 + node ID
1280
NMT Error Control
E
70016 + node ID
1016, 1017
TX = slave sends to master
RX = slave receives from master
SSDO = server SDO
CSDO = client SDO