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920-0025 Rev K

3/5/2015

CANopen User Manual

PDO COB-ID

Because PDOs are directly mapped to OD entries, no overhead is required when working

with them. RPDOs may be sent directly with the COB-ID being the default RPDO COB-ID plus

the Node-ID. For example, the default RPDO1 COB-ID is 200

. Therefore, the COB-ID for

RPDO1 to Node 2E

would be 200

+ 02E

= 22E

. The default COB-IDs for each PDO may

be found in CiA 301 on page 78.

Building an RPDO Data Frame - Example

This example will show how to set the controlword of node 2E

to 7E4F

using RPDO1.

The paragraph above shows how the COB-ID of 22E

was determined. The mapping table

above that shows that the rst two message bytes will contain the controlword. According to

Endianness, the rst data byte will be 4F

and the second will be 7E

. The entire message will

then read:

Table 33: PDO COB-IDs

For more information on PDO mapping: see CiA 402-3

For more information on the PDO protocol: see CiA 301

COB ID Data Length Data Byte 0 Data Byte 1

22E

2 4F

1 2 ... 90 91 92 93 94 95 96 97 98 99 100 101

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Applied-motion ST10-C-CE Manual do Utilizador Página 95