Communication
Section 1-3
17
The following table lists the identifier allocation scheme:
Function code
Node ID
Object
0
0
NMT
1
0
SYNC
2
0
Time Stamp
1
1 ~ 127
EMCY
3
1 ~ 127
PDO1 transmit (TPDO1)
4
1 ~ 127
PDO1 receive
(RPDO1)
5
1 ~ 127
PDO2 transmit (TPDO2)
6
1 ~ 127
PDO2 receive
(RPDO1)
7
1 ~ 127
PDO3 transmit (TPDO3)
8
1 ~ 127
PDO3 receive (RPDO1)
9
1 ~ 127
PDO4 transmit (TPDO4)
10
1 ~ 127
PDO4 receive (RPDO1)
11
1 ~ 127
SDO transmit
(TSDO1)
12
1 ~ 127
SDO receive
(RSDO1)
14
1 ~ 127
NMT Error control
The first three entries in the list are so called broadcast objects (Node ID =
0). All the others are peer-to-peer objects (Node ID
≠
0).
Master-slave network
This predefined ID allocation scheme allows peer-to-peer communication
between a single master device and up to 127 slave devices. If peer-to-peer
communication between 2 slave devices is required, the identifiers need to
be changed in such a way that the receiving identifier of one station equals
the transmitting identifier of the other station. The identifiers of NMT, SDO
transmit and receive, and NMT Error Control are fixed and can not be
changed.
1-3-6 Device configuration
Pre-Operational state
A device can be configured during the Pre-Operational state using SDO
accesses. It is possible, but not recommended to configure parameters
during the Operational state.
The most common parameters to be are configured are:
•
PDO
communication
parameters
•
PDO mapping parameters
•
(Producer / Consumer) Heartbeat time
•
Guard time and life time factor
•
SYNC Producer / Consumer
•
Communication
cycle
period
•
Synchronous
window
length
•
(Server / Client) SDO parameters
These parameters are described in more detail in section 3-3-2.
Especially the configuration of PDO communication parameters is important
if peer-to-peer communication is required between two or more NMT Slaves.
Besides the configuration of parameters in the object dictionary, the baud
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