Siemens SINAMICS G110M Function Manual page 161

COB ID for individual communication objects
You will find the specifications for the COB IDs of the individual communication objects
below:
• COB ID
• COB ID
• COB ID
• COB ID
• COB ID
• COB ID
• COB-ID
• COB ID
*)
Fieldbuses
Function Manual, 01/2016, FW V4.7 SP6, A5E34229197B AC
= 0
NMT
= free
SYNC
= free
EMCY
= free
TPDO
= free
RPDO
= 580 hex + node ID
TSDO
= 600 hex + node ID
RSDO
= 700 hex + node ID
Node Guarding/Heartbeat
Predefined connection set (Page 172)
Communication over CANopen
Cannot be changed
Pre-assigned with 80 hex
80 hex + NAlleode-ID = COB ID
In the free PDO mapping *)
In the free PDO mapping *)
EMCY
161