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7.3.7 Setting the COB-IDs
The COB IDs are given according to DS301 (Predefined Connection Set) for
Tx and Rx PDO 1/2, EMERGENCY, Nodeguard, NMT and SYNC by the
module ID which is set at the DIP switch of the module. After a Power On the
settings are available.
The COB ID is made of the function code and the module ID.
10
Function code
The following COB IDs are used for the supported objects:
Object
NMT
SYNC
EMERGENCY
PDO1 (tx)
PDO1 (rx)
PDO2 (tx)
PDO2 (rx)
SDO (tx)
SDO (rx)
Nodeguard
For the calculation of the COB ID the Module ID must be added to the func-
tion code. Find a calculation example for each object in the last column.
The COB IDs can be changed via SDOs and can be stored. After Power On
the stored settings are available.
Fieldbus Dependent I/O Module
CANopen
Module ID
Function Code
Resulting COB-
(binary) (deci-
IDs
mal Value)
0000
0
0
0001
128
128
(0x80)
0001
129-255
128
(0x
81 - 0xff)
0011
385 - 511
384
(0x181 - 0x1ff)
0100
513 - 639
512
(0x201 - 0x2f7)
0101
641 - 767
640
(0x281-0x2ff)
0110
769 - 895
768
(0x301-0X37f)
1011
1409 - 1535
1408
(0x581-0x5ff)
1100
1537 - 1663
1536
(0x 601 - 0x67f)
1110
1793 - 1919
1792
(0x701-0x77f)
CANopen
0
Communication
Calculation example:
parameter at index
Resulting COB-ID for
(hex)
module ID 12
-
0
1005
128
-
128 + 12 = 140
1800
384 + 12 = 396
1400
512 + 12 = 524
1801
640 + 12 = 652
1401
768 + 12 = 780
1200
1408 + 12 = 1420
1200
1536 + 12 = 1548
100E
1792 + 12 = 1804
• 37
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