Can-Id / Cob-Id - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
5.6.1

CAN-ID / COB-ID

Each message type on each device has a unique 11-bit identifier for bus arbitration and identification on the
CAN bus. The lowest CAN-ID wins the bus arbitration. CAN-IDs with lower priority (higher CAN-ID) will wait
until the bus is free.
For easier configuration, one CAN-ID scheme exists for all CANopen
four RPDO are reserved for every Node-ID. To use more PDO for one node, it is necessary to use CAN-IDs
of other nodes.
11-bit Identifier
Bit 10 ... 7
Function Code
*1. Function code is shown below.
1. Broadcast objects (Node-ID = 0)
COB
NMT
SYNC
TIME
2. Peer-to-peer objects (Node-ID = 1 to 127)
COB
EMCY
TPDO1
RPDO1
TPDO2
RPDO2
TPDO3
RPDO3
TPDO4
RPDO4
TSDO
RSDO
NMT error control
3. Restricted CAN-IDs
In a self defined CAN-ID scheme, use of the following CAN-IDs are restricted and shall not be used as a
CAN-ID by any configurable communication object.
CAN-ID (hex)
0
1 to 7F
101 to 180
581 to 5FF
601 to 67F
6E0 to 6FF
701 to 77F
780 to 7FF
0 to 8 Data Bytes
Bit 6 ... 0
*1
Node-ID
Function Code (Binary)
0000b
0001b
0010b
Function Code (Binary)
0001b
0011b
0100b
0101b
0110b
0111b
1000b
1001b
1010b
1011b
1100b
1110b
Used by COB
NMT
Reserved
Reserved
Default TSDO
Default RSDO
Reserved
NMT Error Control
Reserved
5 Introduction of Functions
5.6 Communication Profile Area
®
devices. By default four TPDO and
CAN Message
11-bit CAN-ID
Resulting CAN-ID
H0
H80
H100
Resulting CAN-ID
H81 to HFF
H181 to H1FF
H201 to H27F
H281 to H2FF
H301 to H37F
H381 to H3FF
H401 to H47F
H481 to H4FF
H501 to H57F
H581 to H5FF
H601 to H67F
H701 to H77F
1
2
3
4
5
6
7
8
9
10
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