CAN Communication
Identifier Allocation Scheme
EPOS4 Communication Guide
3-34 CCMC | 2019-11 | rel8759
3.4 Identifier Allocation Scheme
The default ID allocation scheme consists of a functional part (Function Code) and a Module ID, which
allows distinguishing between devices. The Module ID is assigned by DIP switches and a SDO Object.
Figure 3-24 CAN communication – Default identifier allocation scheme
This ID allocation scheme allows peer-to-peer communication between a single master device and up to
127 slave devices. It also supports broadcasting of non-confirmed NMT Services, SYNC and Node Guard-
ing.
The predefined master/slave connection set supports…
• one emergency object,
• one SDO,
• four Receive PDOs and three Transmit PDOs and the
• node guarding object.
Table 3-13 CAN communication – Objects of the default connection set
Object
Function Code
(binary)
Resulting COB-ID
Communication
Parameter at
Index
NMT 0000 0 –
SYNC 0001 128 (0080h) 1005h
EMERGENCY 129…255 (0081h-00FFh) 1014h
PDO1 (tx) 0011 385…511 (0181h-01FFh) 1800h
PDO1 (rx) 0100 513…639 (0201h-027Fh) 1400h
PDO2 (tx) 0101 641…8767 (0281h-02FFh) 1801h
PDO2 (rx) 0110 769…895 (0301h-037Fh) 1401h
PDO3 (tx) 0111 897…1023 (0381h-03FFh) 1802h
PDO3 (rx) 1000 1025…1151 (0401h-047Fh) 1402h
PDO4 (tx) 1001 1153…1279 (0481h-04FFh) 1803h
PDO4 (rx) 1010 1281…1407 (0501h-057Fh) 1403h
SDO1 (tx) 1011 1409…1535 (0581h-05FFh) 1200h
SDO1 (rx) 1100 1537…1663 (0601h-067Fh) 1200h
To Next Page
Loading...
Need help?
General
