What Is A Cob Id; Table 1-2 Identifier Assignment - Siemens SINAMICS S120 Installation And Start-Up Manual
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Also See for SINAMICS S120:
- Function manual (1094 pages) ,
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1.11 What is a COB ID?
1.11
What i
s a COB ID?
Introduction
Each COB (communication object) can b
which is a part of the COB. CAN specification 2.0A supports up to 2048 COBs, which are
identified by means of 11-bit identifiers.
A list of COB id
available in the object directory of the relevant SINAMICS S120 drive unit.
The COB ID prioritizes the communication objects by means of an
Principle
The COB ID is user defin
CANopen defines a p
c
ommun
stru
Table 1-2
Identifier ass
Communication obje
cts
NMT commands (NM
T)
2)
Sync message (SYNC)
Alarm objects
(EMERGENCY)
Tx–PDO1
Rx–PDO1
Tx–PDO2
Rx–PDO2
Tx–PDO3
Rx–PDO3
Tx–PDO4
Rx–PDO4
Tx–SDO
2)
Rx–SDO
2)
Node monitoring (NMT
error control)
2)
Footnotes for abo
ve table
•
1-16
entifiers, which contains all the COBs that can be accessed via CAN, is
ed.
rese
ication objec
ts.
The f
ctured.
ignment
Function code
dec
bi
n
0
00
00
1
0001
1
0001
3
0011
4
0100
5
0101
6
0110
7
0111
8
1000
9
1001
10
1010
11
1011
12
1100
14
1110
The OD index for the Tx and Rx PDOs depends on the numbe
1)
drive line-up. Each additional drive object begins with the description in an offset of 40
hex (with Tx/Rx, the x stands for the relevant SINAMICS S120 drive object, T = transmit,
R = receive).
e uniquely identified by means of an identifier,
t id
entif
ier a
ssig
nment
ollowi
ng table show
Resulting COB ID
hex
Explan tion
a
0
0 dec
80
128 dec
81–FF
129–255 dec
181–1FF
180 hex + node ID
201–27F
200 hex + node ID
281–2FF
280 hex + node ID
301–
37F
300 hex + node ID
381–3FF
380 hex + node ID
401–47F
40
0 hex + node ID
481–4FF
480 hex + node ID
501–57F
500 h
ex + node ID
581–5FF
580 h
ex + node ID
601–67F
600 hex + node ID
701–77F
700 hex + node ID
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1
identifier assignment.
("predefine
d connec
tio
s how the preset identifier assi
OD ind
–
1005,1006,1007
1014, 1015
1800
1400
1801
1401
1802
1402
1803
1403
1200
1200
100C, 100D
r of drive objects in the
n set") for the
gnment is
ex (hex)
1)
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