Lenze CANopen Controller-based Automation - Manual (Page 26)

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17
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6 Planning the CANopen network
6.1 COB-IDs acc. to DS301
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6.1 COB-IDs acc. to DS301
The COB-IDs for your CANopen network can be calculated according to the following formula:
 Basic identifier - 9400 Servo Drives ( 29)
 Basic identifier - 8400 Inverter Drives ( 30)
 Basic identifier - I/O system 1000 (EPM-Sxxx) ( 31)

Please observe ...
the device-specific information on the CAN configuration in the documentation for the
field devices to be implemented.
Object Direction Basic identifier
from the drive to the drive Dec hex
NMT 0 0x000
Sync 128 0x080
Time Stamp 256 0x100
Emergency  128 0x080
PDO1
(Process data channel 1)
TPDO1  384 0x180
RPDO1  512 0x200
PDO2
(Process data channel 2)
TPDO2  640 0x280
RPDO2  768 0x300
PDO3
(Process data channel 3)
TPDO3  896 0x380
RPDO3  1024 0x400
PDO4
(Process data channel 4)
TPDO4  1152 0x480
RPDO4  1280 0x500
SDO
(Parameter data channel 1)
 1408 0x580
 1536 0x600
NMT Error Control  1792 0x700

Note!
In Lenze system bus (CAN) devices, two SDO channels are permanently active, in
CANopen devices, only one by default.
When using CANopen devices, activate a second SDO channel for access of the
»Engineer«. Otherwise communication with the device will be interfered if you go online
with the »Engineer« while the Lenze Controller has access as well.
COB-ID = basic identifier + node address