Aventics CANopen VS CL03 Série Mode D'emploi page 99

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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