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CANopen Network Interface
52
1606218 02 08/2006
The Device Profile
List of Functions The list of functions supported and their coding are given in the following table:
Function Function code
(binary)
Resulting COB-ID
(Hex)
Resulting COB-ID
(Dec)
NMT 0000 0 0
SYNC 0001 80 128
EMERGENCY 0001 81 - FF 129 - 255
TPDO (tx) 0011 181- 1FF 385 - 511
RPDO (rx) 0100 201- 27F 513 - 639
TPDO (tx) 0101 281 - 2FF 641 - 767
RPDO (rx) 0110 301 - 37F 769 - 895
TPDO (tx) 0111 381 - 3FF 897 - 1023
RPDO (rx) 1000 401 - 47F 1025 - 1151
TPDO (tx) 1001 481 - 4FF 1153 - 1279
RPDO (rx) 1010 501 - 57F 1281 - 1407
SDO (tx) 1011 581 - 5FF 1409 - 1535
SDO (rx) 1100 601 - 67F 1537 - 1663
Node-Guarding 1110 701 - 77F 1793 - 1919