Identifier Distribution - Beckhoff FC5101 Documentation

5.8

Identifier distribution

Default identifier
CANopen provides default identifiers for the most important communication objects, and these are derived
from the 7-bit node address (the node ID) and a 4-bit function code in accordance with the following scheme:
Fig. 46: Structure of the default identifier
For broadcast objects the node ID is set to 0. This gives rise to the following default identifiers:
Broadcast objects
Object Function
NMT Boot-Up
SYNC Synchronization
Peer-to-peer objects
Object Function with I/O
devices
Emergency Status / error
PDO1 (tx) dig. inputs
PDO1 (rx) digital outputs
PDO2 (tx) analog inputs
PDO2 (rx) analog outputs
PDO3 (tx) analog inputs*
PDO3 (rx) analog outputs*
PDO4 (tx) analog inputs*
PDO4 (rx) analog outputs*
SDO (tx) Parameter
SDO (rx) Parameter
Guarding Life/node guarding,
Heartbeat,
Boot-up message
* For historical reasons, the Beckhoff default mapping applies to PDOs 3 and 4 in Beckhoff I/O devices. In
most configurations, PDOs 3+4 contain data related to analog inputs and outputs, but there can also be
"excess" data from digital I/Os, or data from special terminals. Details may be found in the Bus Coupler
documentation.
Up until version 3 of the CANopen specification, default identifiers were assigned to 2 PDOs at a time. The
Beckhoff Bus Couplers up to firmware status BA correspond to this issue of the specification. After firmware
version C0 (CANopen version 4), default identifiers are provided for up to 4 PDOs.
FC5101 and FC5102
Function resulting COB ID hex / dec Object for comm. Parameter /
code
0 0x00 / 0
1 0x80 / 128
Function resulting COB ID hex / dec Object for comm. Parameter /
code
1 0x81 - 0xFF/ 129 - 255
11 0x181 - 0x1FF / 385 - 511
100 0x201 - 0x27F/ 513-639
101 0x281 - 0x2FF/ 641-767
110 0x301 - 0x37F/ 769-895
111 0x381 - 0x3FF / 897 - 1023 0x1802 / 0x1A02
1000 0x401 - 0x47F/ 1025 - 1151 0x1402 / 0x1602
1001 0x481 - 0x4FF/ 1153 - 1279 0x1803 / 0x1A03
1010 0x501 - 0x57F/ 1281 - 1407 0x1403 / 0x1603
1011 0x581 - 0x5FF/ 1409-1535
1100 0x601 - 0x67F/ 1537-1663
1110 0x701 - 0x77F/ 1793-1919
Version: 2.0
CANopen Communication
mapping
- / -
0x1005 + 0x1006 / -
mapping
- / -
0x1800 / 0x1A00
0x1400 / 0x1600
0x1801 / 0x1A01
0x1401 / 0x1601
- / -
- / -
(0x100C, 0x100D, 0x100E,
0x1016, 0x1017)
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