Mitsubishi Electric MELSEC iQ-R Series User Manual page 18

CAN-ID
CAN-ID is an identifier used for bus arbitration and identification of CAN messages.
In bus arbitration, a CAN message with a smaller ID has higher priority to use the bus. CAN-IDs with lower priority will wait
until the bus is free.
This section describes CAN-IDs used in each function mode.
■CANopen 405 mode
11-bit CAN-IDs are used. As shown below, in CANopen, a CAN-ID is composed of a node ID and function code.
11-bit CAN-ID
b10 b7 b6
Function code
In CANopen, each function comes with a function code. However, for some functions, a CAN-ID can be set as desired. The
following table shows CAN-IDs used for the functions of this module and whether CAN-IDs can be set as desired.
: Can be set, : Cannot be set
Function Optional setting Function code (binary)

NMT
*2

SYNC
*3

EMCY
*2

TIME

TPDO

RPDO

SDO (Request)

SDO (Response)

NMT error control
*1 Broadcast message; Node ID is fixed as 0.
*2 Cannot be set with the parameter of CANopen Configuration Tool. Specify the value with the object dictionary.
For details on the setting method, refer to the following.
Page 223 How to Set Parameters When Not Using CANopen Configuration Tool
*3 The CAN-ID of EMCY to be sent by the own node cannot be changed. However, the CAN-ID of a message to be received as EMCY can
be set as desired for the ID of each target node.
*4 To set the CAN-ID as desired, it is not possible to use the same CAN-ID as the CAN-ID of another function used in the same network, or
the CAN-ID that is use-prohibited (reserved) in CANopen. The following table shows whether or not each CAN-ID (range) is available for
use as desired in this module.
1 FUNCTIONS
16
1.1 Overview of CANopen and CAN
Data CAN message
b0
Node ID 11-bit CAN-ID
0000
0001
0001
0010
*4
Optional
*4
Optional
1011
1100
1110
Node ID
*1
00H
*1
00H
01H to 7FH
*1
00H
*4
Optional
*4
Optional
01H to 7FH
01H to 7FH
01H to 7FH
CAN-ID
0000H
0080H
0081H to 00FFH
0100H
*4
Optional
*4
Optional
0581H to 05FFH
0601H to 067FH
0701H to 077FH