Macros
#define	ID_BASE_EMCY 0x080

#define	ID_BASE_SDO_TX 0x580

#define	ID_BASE_SDO_RX 0x600

#define	ID_BASE_NMT_ERR 0x700

Detailed Description

The ID_BASE definitions specify the starting CAN-ID value (offset) for various CANopen services (EMCY, SDO, etc). The value used by the device is ID_BASE_XXX + node-Id. The direction has to be seen from the devices point of view.

Macro Definition Documentation

◆ ID_BASE_EMCY

#define ID_BASE_EMCY 0x080

The Emergency identifier for a CANopen device is calculated by the formula ID_BASE_EMCY + node-ID .

◆ ID_BASE_NMT_ERR

#define ID_BASE_NMT_ERR 0x700

The NMT error control identifier (heartbeat) for a CANopen device is calculated by the formula node-ID + ID_BASE_NMT_ERR.

◆ ID_BASE_SDO_RX

#define ID_BASE_SDO_RX 0x600

The Receive SDO identifier for a CANopen device is calculated by the formula node-ID + ID_BASE_SDO_RX.

◆ ID_BASE_SDO_TX

#define ID_BASE_SDO_TX 0x580