Overview 07/06 Danaher Motion
4 Initial Release M-S2-021-11
2. 2 COMMUNICATION OBJECT IDENTIFIER
The following diagram shows the layout of the COB Identifier (COB-ID). The Function Code defines the
interpretation and priority of the particular object.
10 9 8 7 6
5
4
3
2
1
0
Function-Code
Module-ID
Bit 0 .. 6
Module ID (servo amplifier's CAN-bus address, range 1 ... 127; is set up in the setup
software of the servo amplifier)
Bit 7... 10
Function Code (number of the communication object that is defined in the server)
WARNING
If an invalid station number (=0 or >127) is set, the module is set internally
to 1.
The following tables show the default values for the COB Identifier after switching on the servo amplifier.
The objects, which are provided with an index (Communication Parameters at Index), can have a new ID
assigned after the initialization phase. The indices in brackets are optional.
Predefined broadcast objects (send to all nodes):
Resulting COB-IDs
Object
Function code
(binary)
Dec. Hex.
Communication parameters at
index
NMT
0000 0 0h —
SYNC
0001 128 80h (1005h)
TIME
0010 256 100h not supported
Predefined Peer-to-Peer objects (node sends to node):
Resulting COB-IDs
Object
Function code
(binary)
Dec. Hex.
Communication
parameters at index
Priority
EMERGENCY
0001 129..255 81h..FFh —
TPDO 1 0011 385..511 181h..1FFh 1800h
RPDO 1 0100 513..639 201h..27Fh 1400h
TPDO 2 0101 641..767 281h..2FFh 1801h
RPDO 2 0110 769..895 301h..37Fh 1401h
TPDO 3 0110 897..1023 381h..3FFh 1802h
RPDO 3 1000 1025..1151
401h..47Fh 1402h
TPDO 4 1001 1153..1279
481h..4FFh 1803h
RPDO 4 1010 1281..1407
501h..57Fh 1403h
SDO (tx*) 1011 1409..1535
581h..5FFh
SDO (rx*) 1100 1537..1663
601h..67Fh
Nodeguard 1110 1793..1919
701h..77Fh (100Eh)
high
low
* tx = direction of transmission:
Master
rx = direction of transmission: Master
S200
2. 3 DATA TYPE DEFINITION
This section defines the data types that are used. Each data type can be described by bit- sequences. These
bit-sequences are grouped into “Octets” (bytes). The so-called “Little – Endian” format (e.g., Intel format)
is used for numerical data types (see also: DS301 Application Layer “General Description of Data Types
and Encoding Rules”).
