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CANopen encoder
The following broadcast objects with default identifiers are available in the
encoder:
Object
Function
code (binary)
NMT
SYNC
The following peer-to-peer objects with default identifiers are available in the
encoder:
Object
EMERGENCY
PDO1 (tx)
PDO2 (tx)
SDO (tx)
SDO (rx)
Node guard
6.3
Boot message
The encoder transmits a boot message after power on and initialisation� This
message uses the default emergency identifier and has no data bytes� With
this message the user can retrieve the transmitting node directly from the used
identifier (COB-ID) as this is a function of the node number → chapter 6.2.
14
Resulting identifier (COB-
ID)
0000
0001
Function code
(binary)
0001
0011
0101
1011
1100
1110
0
128
Resulting
identifier (COB-ID)
129���255
385���511
641���767
1409���1535
1537���1663
1793���1919
Priority group
0
0
Priority group
0, 1
1, 2
2, 3
6
6, 7
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