Cob-Id - Siemens SINAMICS S120 Commissioning Manual

1.11

COB-ID

Introduction
Each COB (communication object) can be uniquely identified by means of an identifier,
which is a part of the COB. CAN specification 2.0A supports up to 2048 COBs, which are
identified by means of 11-bit identifiers.
A list of COB identifiers, which contains all the COBs that can be accessed via CAN, is
available in the object directory for the relevant SINAMICS drive unit.
The COB ID prioritizes the communication objects by means of an identifier assignment.
General procedure
The COB ID is user defined.
CANopen defines a preset identifier assignment ("predefined connection set") for the
communication objects. The following table shows how the preset identifier assignment is
structured.
Table 1- 3
Communication
objects
NMT commands
(NMT)
Sync message
(SYNC)
Alarm objects
(EMERGENCY)
Tx–PDO1
Rx–PDO1
Tx–PDO2
Rx–PDO2
Tx–PDO3
Rx–PDO3
Tx–PDO4
Rx–PDO4
Tx–SDO
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
Identifier assignment
Function
code
dec
0
2)
1
1
3
4
5
6
7
8
9
10
11
2)
Resulting COB ID
bin hex Explanation
0000 0 0 dec
0001 80 128 dec
0001 81–FF 129–255 dec
0011 181– 180 hex + node
1FF ID
0100 201– 200 hex + node
27F ID
0101 281– 280 hex + node
2FF ID
0110 301– 300 hex + node
37F ID
0111 381– 380 hex + node
3FF ID
1000 401– 400 hex + node
47F ID
1001 481– 480 hex + node
4FF ID
1010 501– 500 hex + node
57F ID
1011 581– 580 hex + node
5FF ID
Add infeed
1.11 COB-ID
OD index (hex) 1)
–
1005,1006,1007
1014, 1015
1800
1400
1801
1401
1802
1402
1803
1403
1200
33