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E94AYCCA communication manual (CANopen®)
Data transfer
Structure of the CAN data telegram
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EDS94AYCCA EN 5.0 - 06/2012
7.1.1 Identifier
The principle of the CAN communication is based on a message-oriented data exchange
between a transmitter and many receivers. All nodes can transmit and receive quasi-
simultaneously.
The identifier, also called "COB-ID" (Communication Object Identifier), is used to control
which node is to receive a transmitted message. In addition to the addressing, the
identifier contains information on the priority of the message and the type of the user
data.
The identifier consists of a basic identifier and the node address of the node to be
addressed:
Identifier (COB-ID) = basic iden node address (node ID)
Exception: For process data, heartbeat and emergency objects as well as network
management and sync telegrams, the identifier can be assigned freely by the user (either
manually or automatically by a network configurator) or is firmly allocated.
Node address (node ID)
For the purpose of unique identification, a node address, also referred to as node ID, in the
valid address range (1 ... 127) is to be assigned to each node within the CAN network.
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A node address may not be assigned more than once within a network.
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The node address can be configured with the DIP switches of the communication
module or with code C13350 / C14350 .
Setting the node address
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