Posi+ canopen user manual, Device configuration, Canopen data transmission – BEI Sensors THK5 User Manual
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POSI+ CANOPEN USER MANUAL
Page 8
Version 1.02
BEI IDEACOD SAS
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Web : www.bei-ideacod.com
2. Device Configuration
2.1. CANopen Data Transmission
Data Transmission
Data is transmitted in a CANopen network in the form of messages. These messages basically
consist of a COB-ID and 8 data bytes.
COB-ID The 11-bit COB-ID is made up as follows:
10
9
8
7
6
5
4
3
2
1
0
Function code
Node number
X
X
X
X
X
X
X
X
X
X
X
X free, to be selected
The COB-ID only determines the message object. It consists of a function code, which identifies
the message class and the node number, which is the absolute encoder address. The node
number is fixed using the CAN interface.
The following function codes are available (rx and tx as viewed by the master):
Object
Function code
(binary)
COB-ID result
Hex.
Priority class*
NMT
0000
0
0
SYNC
0001
128
80
0
Emergency
0010
129-255
81-FF
0,1
PDO (tx)
0011
385-511
181-1FF
1,2
PDO (rx)
0100
513-639
201-27F
2
PDO (tx)
0101
641-767
281-2FF
2,3
PDO (rx)
0110
769-895
301-37F
3,4
SDO (tx)
1011
1409-1535
581-5FF
6
SDO (rx)
1100
1537-1663
601-67F
6,7
* Priority: 0= maximum priority, 7=minimum priority