Can Identifier List - Beckhoff EL6751 Documentation

Appendix
7.4

CAN Identifier List

The list provided here should assist in identifying and assigning CANopen messages. All the identifiers
allocated by the CANopen default identifier allocation are listed, as well as the manufacturer-specific default
identifiers issued by BECKHOFF via object 0x5500 (only to be used in networks with node addresses less
than 64).
The following values can be used as search aids and "entry points" in the extensive identifier table in the
*chm edition of the documentation:
Decimal: 400 [} 189], 500 [} 196], 600 [} 196], 700 [} 191], 800 [} 192], 900 [} 193], 1000 [} 198], 1100
[} 198], 1200 [} 194], 1300 [} 194], 1400 [} 199], 1500 [} 200], 1600 [} 200], 1700 [} 195], 1800 [} 203], 1900
[} 195]
Hexadecimal: 0x181 [} 189], 0x1C1 [} 196], 0x201 [} 190], 0x301 [} 192], 0x401 [} 193], 0x501 [} 194], 0x601
[} 202], 0x701 [} 203]
The identifier distribution via object 0x5500 follows this pattern:
Object
Emergency [} 189]
TxPDO1 [} 189]
RxPDO1 [} 190]
TxPDO2 [} 191]
RxPDO2 [} 192]
TxDPO3 [} 193]
RxPDO3 [} 193]
TxPDO4 [} 194]
RxPDO4 [} 194]
TxPDO5 [} 195]
RxPDO5 [} 195]
TxPDO6 [} 196]
RxPDO6 [} 196]
TxDPO7 [} 197]
RxPDO7 [} 197]
TxPDO8 [} 198]
RxPDO8 [} 198]
TxPDO9 [} 199]
RxPDO9 [} 199]
TxDPO10 [} 200]
RxPDO10 [} 200]
TxPDO11 [} 201]
RxPDO11 [} 201]
SDO (Tx) [} 202]
SDO (Rx) [} 202]
Guarding / Heartbeat/ Bootup
[} 203]
188
Resulting COB ID (dec)
129 to 191 [255]
385 to 447 [511]
513 to 575 [639]
641 to 676 [767]
769 to 831 [895]
897 to 959 [1023]
1025 to 1087 [1151]
1153 to 1215 [1279]
1281 to 1343 [1407]
1665 to 1727
1921 to 1983
449 to 511
577 to 639
705 to 767
833 to 895
961 to 1023
1089 to 1151
1217 to 1279
1345 to 1407
1473 to 1535
1601 to 1663
1729 to 1791
1857 to 1919
1409 to 1471 [1535]
1537 to 1599 [1663]
1793 to 1855 [1919]
Version: 3.5
Resulting COB ID (hex)
0x81 to 0xBF [0xFF]
0x181 to 0x1BF [0x1FF]
0x201 to 0x23F [0x27F]
0x281 to 0x2BF [0x2FF]
0x301 to 0x33F [0x37F]
0x381 to 0x3BF [0x3FF]
0x401 to 0x43F [0x47F]
0x481 to 0x4BF [0x4FF]
0x501 to 0x53F [0x57F]
0x681 to 0x6BF
0x781 to 0x7BF
0x1C1 to 0x1FF
0x241 to 0x27F
0x2C1 to 0x2FF
0x341 to 0x37F
0x3C1 to 0x3FF
0x441 to 0x47F
0x4C1 to 0x4FF
0x541 to 0x57F
0x5C1 to 0x5FF
0x641 to 0x67F
0x6C1 to 0x6FF
0x741 to 0x77F
0x581 to 0x5BF [0x5FF]
0x601 to 0x63F [0x67F]
0x701 to 0x73F [0x77F]
EL6751