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AVENTICS | CANopen | R402003660–BAL–001–AE
Table 14:
Standard identifier assignment in accordance with CiA DS-
301
Byte in Hex
Byte in Bit
From
To
From
0x400
1024
0x401
0x0F
1025
0x480
1152
0x481
0x4FF
1153
0x500
1280
0x501
0x0F
1281
0x580
1408
0x581
0x5FF
1409
0x600
1536
0x601
0x0F
1537
0x680
0x6E0
1664
0x701
0x0F
1793
0x760
0x7EF
1888
0x7F0
0x7FF
2032
Table 15:
Identifier definition independent of node ID
Object
Identifier
NMT
0
SYNC
128
On the bus coupler, PDO 1 is assigned by default for transmitting
and receiving.
Table 16:
Identifier definition dependent on node ID
Object
Identifier
Emergency
128 + node ID
NMT node
1792 + node ID
guarding
SDO
1408 + node ID
SDO
1536 + node ID
PDO 1
384 + node ID
PDO 2
640 + node ID
PDO 3
896 + node ID
Appendix – bus master configuration
Meaning
To
Reserved by CAL
1151
PDO 3 (receive)
Reserved by CAL
1279
PDO 4 (transmit)
Reserved by CAL
1407
PDO 4 (receive)
Reserved by CAL
1535
SDO (transmit)
Reserved by CAL
1663
SDO (receive)
1760
Reserved for SDO
1919
Node guarding
2031
Reserved for NMT
2047
Reserved for CAL
Direction
Transmit/receive
Receive
Direction
Transmit
Transmit/receive
Transmit
Receive
Transmit
Transmit
Transmit
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