Aventics CANopen Instrucciones De Servicio página 100

100 AVENTICS | CANopen, CANopen sb | R412009415–BDL–001–AE
Appendix
Table 16: Standard identifier assignment in accordance with CiA DS-301
Byte in hex
From To
0x480
0x481 0x4FF
0x500
0x501 0x57F
0x580
0x581 0x5FF
0x600
0x601 0x67F
0x680 0x6E0
0x701 0x77F
0x760 0x7EF
0x7F0 0x7FF
Table 17: Identifier definition independent of node ID
Object
NMT
SYNC
Table 18: Identifier definition dependent on node ID
Object
Emergency
NMT node guarding
SDO
SDO
PDO 1
PDO 2
PDO 3
PDO 4
PDO 1
PDO 2
PDO 3
PDO 4
Byte in bit
From To
1152
1153 1279
1280
1281 1407
1408
1409 1535
1536
1537 1663
1664 1760
1793 1919
1888 2031
2032 2047
Identifier
0
128
On the bus coupler, PDO 1 is assigned by default for
transmitting and receiving.
Identifier
128 + node ID
1792 + node ID
1408 + node ID
1536 + node ID
384 + node ID
640 + node ID
896 + node ID
1152 + node ID
512 + node ID
768 + node ID
1024 + node ID
1280 + node ID
Meaning
Reserved by CAL
PDO 4 (transmit)
Reserved by CAL
PDO 4 (receive)
Reserved by CAL
SDO (transmit)
Reserved by CAL
SDO (receive)
Reserved for SDO
Node guarding
Reserved for NMT
Reserved for CAL
Direction
Transmit/receive
Receive
Direction
Transmit
Transmit/receive
Transmit
Receive
Transmit
Transmit
Transmit
Transmit
Receive
Receive
Receive
Receive