Baumer BA_DSRT_22DJ - Handbuch (Seite 15)

Manual_CANopen_StrainLink_EN_V3_05.doc 15/65 Baumer
22.07.11/dam Frauenfeld, Switzerland
Default identifier assignment:
Communication objects COB-ID(s) hex Slave-Nodes
NMT node control 000 only receive
Sync 080 only receive
Emergency 080 + NodeID transmit
TimeStamp 100 only receive
PDO 180 + NodeID 1. PDO transmit
200 + NodeID 1. PDO receive
280 + NodeID 2. PDO transmit
300 + NodeID 2. PDO receive
380 + NodeID 3. PDO transmit
400 + NodeID 3. PDO receive
480 + NodeID 4. PDO transmit
500 + NodeID 4. PDO receive
SDO 580 + NodeID transmit
600 + NodeID receive
NMT node monitoring (node
guarding/heartbeat)
700 + NodeID transmit
LSS 7E4 transmit
7E5 receive
The master in the network is capable of changing the mode of the slaves. Consequently, it controls the
CANopen network. For this reason, the master is often also referred to as the CANopen Network Manager.
Typically, a CANopen master is implemented using a PLC or a PC. The CANopen slaves can be assigned
the addresses from 1 to 127. The device address automatically indicates a number of identifiers that are
assigned to this device.
4.3 Objects
The object directory describes the complete functionality of the CANopen devices and is organized in tabular
form. The object directory contains not only the standardized data types and objects of the CANopen
communication profile and the device profiles but also vendor-specific objects and data types if provided.
The entries are addressed using a 16-bit index (row address of the table, a maximum of 65,536 entries) and
an 8-bit sub-index (column address of the table, a maximum of 256 entries). This makes it easy to group
associated objects. The structure of this CANopen object directory is shown in the following table.
Overview of the entire object directory:
Indexrange Description
0000h Reserved
0001h to 025Fh Data types
0260h to 0FFFh Reserved
1000h to 1FFFh Communications profile area
2000h to 5FFFh Manufacturer specific profile area
6000h to 9FFFh Standardized profile area
A000h to AFFFh Network variable
B000h to BFFFh System variabel
C000h to FFFFh Reserved