https://forge.codesys.com/forge/talk/Engineering/thread/b0f86dbb97/2020-02-27T14:13:54.090000ZRecent posts to CANOpen TPDO5 cob-id2020-02-27T14:13:54.090000Z2020-02-27T14:13:54.090000Zchabhttps://forge.codesys.com/u/chab/https://forge.codesys.comadd13702daf0755577e935a932e9bcc724aecfd5

<div class="markdown_content"><p>The Cob id 681 is CoDeSys' standard value for PDO5.<br/> (0x681 is the free range after the SDO area.)</p></div>

2020-02-27T14:13:53.742000Z2020-02-27T14:13:53.742000Ztimvhhttps://forge.codesys.com/u/timvh/https://forge.codesys.comb56a06bc44655d27259ee02de3e9145abf8b5f72

<div class="markdown_content"><p>This is CANOpen related. You cannot freely use COB IDs for PDO's.<br/> CANOpen defines only 4 PDO's for sending and 4 PDO's for receiving (each node).<br/> Cob id 681 is not pre-defined and therefore you might be able to use it, but I doubt your CAN node accepts this.</p></div>

2020-02-27T14:13:53.403000Z2020-02-27T14:13:53.403000Zchabhttps://forge.codesys.com/u/chab/https://forge.codesys.coma9f55c5a22f8a0eb890a183bd4c0a585a79d92f8

<div class="markdown_content"><p>I use the CAN_Local_Device (CANOpen slave).<br/> PDO1 to 4 use the "pre-defined connection set".<br/> When adding the 5th PDO, I noticed that the cob-id equals 0x681. WITHOUT the $NODEID part as with PDO1-4.<br/> Other CANOpen devices use "$NODEID+0x180 + 0x40" often.</p> <p>Is it possible to make the "Generic cob-id" depend on the $NODEID. (So the "Settings cob-id" is has a good value, when multiple devices are used. And not both 0x681.)</p> <p>A second remark:<br/> The "Generic cob-id" is fixed and cannot be changed! (The "Settings cob-id" can be changed of course. But that is extra work.)<br/> It would be really nice if the "Generic cob-id" is user changeable. So an own "cob-id algorithm" can be used.</p> <p>Regards,<br/> Ed.</p> <p><img alt="IMG: CoDeSys_PDO5_cob" rel="nofollow" src="https://forum.codesys.com//download/file.php?id=270"/></p></div>