Construction Of The Communication Object Identifier - Kollmorgen S300 Interface Manual
Can-bus fieldbus interface
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Also See for S300:
- Manual (138 pages) ,
- Original manual (54 pages) ,
- Translation of the original manual (54 pages)
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Kollmorgen
3.2
Construction of the Communication Object Identifier
The following diagram shows the layout of the COB Identifier (COB-ID). The Function Code defines
the interpretation and priority of the particular object.
10
Function-Code
Bit 0 .. 6
Bit 7... 10
If an invalid station number (=0 or >127) is set, then the module will be set internally to 1.
The following tables show the default values for the COB Identifier after switching on the servo
amplifier. The objects, which are provided with an index (Communication Parameters at Index), can
have a new ID assigned after the initialization phase. The indices in brackets are optional.
Predefined broadcast objects (send to all nodes):
Object
NMT
SYNC
TIME
Predefined Peer-to-Peer objects (node sends to node):
Object
EMERGENCY
TPDO 1
RPDO 1
TPDO 2
RPDO 2
TPDO 3
RPDO 3
TPDO 4
RPDO 4
SDO (tx*)
SDO (rx*)
Nodeguard
*
3.3
Definition of the used data types
This chapter defines the data types that are used. Each data type can be described by bit-
sequences. These bit-sequences are grouped into "Octets" (bytes). The so-called "Little – Endian"
format (also known as "Intel format") is used for numerical data types (see also: DS301 Application
Layer "General Description of Data Types and Encoding Rules").
CANopen for S300/S700
9
8
7
6
5
4
Module-ID
Module ID (servo amplifier's CAN-bus address, range 1 ... 127; is set up in the
setup software or the servo amplifier, Þ p.11)
Function Code (number of the communication object that is defined in the server)
Function code
(binary)
0000
0001
0010
Function code
(binary)
0001
0011
0100
0101
0110
0110
1000
1001
1010
1011
1100
1110
tx = direction of transmission: S300/S700 Þ Master
rx = direction of transmission: Master Þ S300/S700
CANopen communication profile
11/2018
3
2
1
0
Resulting COB-IDs
Dec.
Hex.
0
0
h
128
80
h
256
100
h
Resulting COB-IDs
Dec.
Hex.
129..255
81
..FF
h
385..511
181
..1FF
h
513..639
201
..27F
h
641..767
281
..2FF
h
769..895
301
..37F
h
897..1023
381
..3FF
h
1025..1151
401
..47F
h
1153..1279
481
..4FF
h
1281..1407
501
..57F
h
1409..1535
581
..5FF
h
1537..1663
601
..67F
h
1793..1919
701
..77F
h
Communication parameters
at index
—
(1005
not supported
Communication
parameters
at index
—
h
1800
h
h
1400
h
h
1801
h
h
1401
h
h
1802
h
h
1402
h
h
1803
h
h
1403
h
h
h
h
(100E
)
h
h
)
h
Piority
high
low
15
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