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JC-120MC
CANID parameter
Default CAN identifier
distribution
Jetter AG
The CANID parameter is used to transfer the CAN identifier. The CAN
identifier is generated with a macro. The CAN identifier depends on the node
ID of the other communicating user and on whether it is a PDO1, PDO2,
PDO3 or PDO4 message.
Macro definitions:
CANOPEN_PDO1_RX (NodeID)
#Define
CANOPEN_PDO2_RX (NodeID)
#Define
CANOPEN_PDO3_RX (NodeID)
#Define
CANOPEN_PDO4_RX (NodeID)
#Define
CANOPEN_PDO1_TX (NodeID)
#Define
CANOPEN_PDO2_TX (NodeID)
#Define
CANOPEN_PDO3_TX (NodeID)
#Define
CANOPEN_PDO4_TX (NodeID)
#Define
Example for calling up the macro:
CANOPEN_PDO2_RX (64)
The resulting CAN identifier is: 2C0h = 40h + 280h
For CANopen® the following CAN identifier distribution is predefined. In this
case, the node number is embedded in the identifier.
11-bit identifier
Identifier
(binary)
(decimal)
000000000000
0
000100000000
128
0001xxxxxxxx
129 - 255
0011xxxxxxxx
385 - 511
0100xxxxxxxx
513 - 639
0101xxxxxxxx
641 - 767
0110xxxxxxxx
769 - 895
0111xxxxxxxx
897 - 1023
1000xxxxxxxx
1025 - 1151
1001xxxxxxxx
1153 - 1279
1010xxxxxxxx
1281 - 1407
1011xxxxxxxx
1409 - 1535
1100xxxxxxxx
1537 - 1663
1110xxxxxxxx
1793 - 1919
xxxxxxxx = Node number 1 - 127
((NodeID) +
((NodeID) +
((NodeID) +
((NodeID) +
((NodeID) +
((NodeID) +
((NodeID) +
((NodeID) +
Identifier
(hexadecimal)
0
Network management
80h
Synchronization
81h - FFh
Emergency
181h - 1FFh
PDO1 (tx)
201h - 27Fh
PDO1 (rx)
281h - 2FFh
PDO2 (tx)
301h - 37Fh
PDO2 (rx)
381h - 3FFh
PDO3 (tx)
401h -47Fh
PDO3 (rx)
481h - 4FFh
PDO4 (tx)
501h - 57Fh
PDO4 (rx)
581h - 5FFh
Send SDO
601h - 67Fh
Receive SDO
701h - 77Fh
NMT error control
Programming
)
0x180
)
0x280
)
0x380
)
0x480
)
0x200
)
0x300
)
0x400
)
0x500
Description
519
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