ifm electronic RN7003 - Manual (Page 14)

CANopen encoder
14
The following broadcast objects with default identifiers are available in the
encoder:
Object Function
code (binary)
Resulting identifier (COB-
ID)
Priority group
NMT 0000 0 0
SYNC 0001 128 0
The following peer-to-peer objects with default identifiers are available in the
encoder:
Object Function code
(binary)
Resulting
identifier (COB-ID)
Priority group
EMERGENCY 0001 129���255 0, 1
PDO1 (tx) 0011 385���511 1, 2
PDO2 (tx) 0101 641���767 2, 3
SDO (tx) 1011 1409���1535 6
SDO (rx) 1100 1537���1663 6, 7
Node guard 1110 1793���1919 -
Boot message 6.3
The encoder transmits a boot message after power on and initialisation� This
message uses the default emergency identifier and has no data bytes� With
this message the user can retrieve the transmitting node directly from the used
identifier (COB-ID) as this is a function of the node number → chapter 6.2.