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1. Commissioning
Object
1)
SYNC
EMERGENCY
Transmit PDO 1
Transmit PDO 2
Receive PDO 1
Receive PDO 2
Transmit SDO
Receive SDO
Node guarding /
Heartbeat
1)
"0" is used as the Node ID.
Tab. 1/3:
Function Code
Festo P.BE-CTEU-CO-OP+MAINT-EN en 1101NH
Object designation
Broadcast object
For procedures with high
priority, e.g. undervoltage
PDO1 (tx)
PDO2 (tx)
PDO1 (rx)
PDO2 (rx)
SDO1 (tx)
SDO1 (rx)
Cyclic interrogation (guarding)
or life sign message:
Examples for using the COB-IDs can be found in section 1.5.3.
Value range of the COB identifier
080
h
128
d
080
h
128
d
181
1FF
h
h
385
... 511
d
d
281
2FF
h
h
641
... 767
d
d
201
27F
h
h
513
... 639
d
d
301
37F
h
h
769
... 895
d
d
581
5FF
h
h
1409
... 1535
d
d
601
67F
h
h
1537
... 1663
d
d
701
77F
h
h
1793
... 1919
d
d
1-9
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- I/O Linking by Cob-Ids
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