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Functions
4.6.1
CAN-ID / COB-ID
Each message type on each device has a unique 11-bit identifier for bus arbitration and identification
on the CAN bus. The lowest CAN-ID wins the bus arbitration. CAN-IDs with lower priority (higher CAN-
ID) will wait until the bus is free.
For easier configuration, one CAN-ID scheme exists for all CANopen€ devices. By default four TPDO
and four RPDO are reserved for every Node-ID. To use more PDO for one node, it is necessary to use
CAN-IDs of other nodes.
11-bit Identifier
Function Code*
* The Function Code is shown below.
Fig. 4-1:
Broadcast objects (Node ID = 0)
Tab. 4-11: Broadcast objects (Node ID = 0) and resulting CAN-ID
Peer-to-peer objects (Node ID = 1–127)
Tab. 4-12: Peer-to-peer objects (Node ID = 1–127) and resulting CAN-ID
4 – 18
0–8 Data Bytes
Bit 10 ... Bit 7
Bit 6 ... Bit 0
Structure of a CAN message
COB
NMT
SYNC
TIME
COB
EMCY
TPDO1
RPDO1
TPDO2
RPDO2
TPDO3
RPDO3
TPDO4
RPDO4
TSDO
RSDO
NMT error control
CAN Message
Node ID
Function Code (binary)
0000b
0001b
0010b
Function Code (binary)
0001b
0011b
0100b
0101b
0110b
0111b
1000b
1001b
1010b
1011b
1100b
1110b
Communication Profile Area
11-Bit CAN-ID
Resulting CAN-ID
0
H
80
H
100
H
Resulting CAN-ID
81
–FF
H
H
181–1FF
H
201–27F
H
281–2FF
H
301–37F
H
381–3FF
H
401–47F
H
481–4FF
H
501–57F
H
581–5FF
H
601–67F
H
701–77F
H
MITSUBISHI ELECTRIC
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