Can Identifier - Aventics CANopen Instrucciones De Servicio

AVENTICS | CANopen, CANopen sb | R412009415–BDL–001–AE
Standard identifier
assignment
Table 16: Standard identifier assignment in accordance with CiA DS-301
Byte in hex
From To
0
1 0x7F
0x80
0x81 0xFF
0x100
0x181 0x1FF
0x200
0x201 0x27F
0x280
0x281 0x2FF
0x300
0x301 0x37F
0x380
0x381 0x3FF
0x400
0x401 0x47F
"NMT START" telegram. Process data can only be
transmitted via the PDOs after the function module is in
the "Operational" mode. If an error is found, the bus
coupler is stopped (see "System stop" on page 92).
13.2.2

CAN Identifier

After start-up, the bus coupler identifiers are set by
default, based on the CiA DS-301 specifications (Master/
Slave Connection Set).
The default identifier assignment assumes a master/
slave relationship whereby the valve system behaves
completely as a slave. An appropriate application master,
DBT master or NMT master can calculate the slave's
identifier by consulting its node ID. The default identifier
distribution does not allow communication among slaves.
The standard identifier distribution (ID length 11 bits
in a range from 0 to 2047) is in accordance with the
specifications of CiA DS-301 (Master/Slave
Connection Set).
Byte in bit
From To
1 127
128
129 255
256
385 511
512
513 639
640
641 767
768
769 895
896
897 1023
1024
1025 1151
Meaning
NMT services
Reserved by CAL
SYNC message
Emergency messages
Time stamp
PDO 1 (transmit)
Reserved by CAL
PDO 1 (receive)
Reserved by CAL
PDO 2 (transmit)
Reserved by CAL
PDO 2 (receive)
Reserved by CAL
PDO 3 (transmit)
Reserved by CAL
PDO 3 (receive)
99
Appendix