Applied Motion ST10-C-CE - Manual (Page 95)

95 920-0025 Rev K
3/5/2015
CANopen User Manual
PDO COB-ID
Because PDOs are directly mapped to OD entries, no overhead is required when working
with them. RPDOs may be sent directly with the COB-ID being the default RPDO COB-ID plus
the Node-ID. For example, the default RPDO1 COB-ID is 200
h
. Therefore, the COB-ID for
RPDO1 to Node 2E
h
would be 200
h
+ 02E
h
= 22E
h
. The default COB-IDs for each PDO may
be found in CiA 301 on page 78.
Building an RPDO Data Frame - Example
This example will show how to set the controlword of node 2E
h
to 7E4F
h
using RPDO1.
The paragraph above shows how the COB-ID of 22E
h
was determined. The mapping table
above that shows that the first two message bytes will contain the controlword. According to
Endianness, the first data byte will be 4F
h
and the second will be 7E
h
. The entire message will
then read:
Table 33: PDO COB-IDs
For more information on PDO mapping: see CiA 402-3
For more information on the PDO protocol: see CiA 301
COB ID Data Length Data Byte 0 Data Byte 1
22E
h
2 4F
h
7E
h