ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 13)

COB Type Bits 8 - 11 of COB-ID ID Range
NMT 0000 0
SYNC 0001 128 (80h)
Time Stamp 0010 256 (100h)
Emergency 0001 129…255 (81h…ffh)
PDO1 - Transmit 0011 385…511 (181h…1ffh)
PDO1 - Receive 0100 513…639 (201h…27fh)
PDO2 - Transmit 0101 641…767 (281h…2ffh)
PDO2 - Receive 0110 769…895 (301h…37fh)
PDO3 - Transmit 0111 897…1023 (381h…3ffh)
PDO3 - Receive 1000 1025…1151 (401h…47fh)
PDO4 - Transmit 1001 1153…1279 (481h…4ffh)
PDO4 - Receive 1010 1281…1407 (501h…57fh)
SDO - Transmit 1011 1409…1535 (581h…5ffh)
SDO - Receive 1100 1537…1663 (601h…67fh)
Error control (node guarding) 1110 1793…1919 (701h…77fh)
Table 2-2: COB Types
Example:
The COB-ID of PDO1, when received by node #2, is binary 01000000010, which is
decimal 514, or 202 hexadecimal. The IDs of the servo drives are set in the range 1…127.
2.8 Object Dictionary - Data Types
The Elmo CAN controller supports the following data types:
Index Object Name
0002 DEFTYPE Integer8
0003 DEFTYPE Integer16
0004 DEFTYPE Integer32
0005 DEFTYPE Unsigned8
0006 DEFTYPE Unsigned16
0007 DEFTYPE Unsigned32
0008
DEFTYPE Floating Point (Float)
0009 DEFTYPE Visible String
0020 DEFSTRUCT PDO CommPar
0021 DEFSTRUCT PDO Mapping
0022 DEFSTRUCT SDO Parameter
CANopen DS 301 Implementation Guide CANopen Basics
MAN-CAN301IG (Ver. 2.1)
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