7 CANopen Function and Operation
7.3.3 The Predefined Connection Set
In order to decrease the configuration workload of the network, CANopen defines a default
identifier. In the predefine connection set, the structure of the 11-bit identifier is as follows.
The objects which are supported and the COB-IDs which are assigned to the objects are listed
below.
 The broadcast object in the predefined connection setting
Object Function code COB-ID
communication
 The corresponding object in the predefined connection set
Object Function code COB-ID
Index of the
communication
1025 (401h)–1151 (47Fh)
1153 (481h)–1279 (4FFh)
1281 (501h)–1407 (57Fh)
1409 (581h)–1535 (5FFh)
1537 (601h)–1663 (67Fh)
1110 1793 (701h)–1919 (77Fh) 1016h, 1017h
7.4 Sending SDO, NMT and Reading Emergency Message through the
Ladder Diagram
Editing the request message mapping area can realize the transmission of SDO, NMT and
Emergency message.The corresponding relations between the request message mapping area,
response message mapping area and PLC device are shown below.
D6250~D6281
SDO request message, NMT service message and
Emergency request message
64 bytes
D6000~D6031
SDO response message and Emergency response
message
64 bytes
1> CANopen master can only send one SDO, NMT or Emergency request message to the same
equipment at a time.
2> We suggest the request message mapping area should be cleared to zero when sending
SDO, NMT or Emergency request message through WPL program.
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