AS S e r i e s O p e r a t i o n M a n u a l1 0 - 1 810The following tables list the objects that are supported and the COB-IDs that are assigned to the objects.1. The broadcast object in the predefined connection settingObject Function code COB-ID Index of thecommunication parameterNMT 0000 0 -SYNC 0001 128 (80h) 1005h, 1006h, 1007hTime stamp 0010 256 (100h) 1012h, 1013h2. The corresponding object in the predefined connection setObject Function code COB-ID Index of thecommunication parameterEmergency 0001 129 (81h)–255 (FFh) 1014h, 1015hPDO1 (TX) 0011 385 (181h)–511 (1FFh) 1800hPDO1 (RX) 0100 513 (201h)–639 (27Fh) 1400hPDO2 (TX) 0101 641 (281h)–767 (2FFh) 1801hPDO2 (RX) 0110 769 (301h)–895 (37Fh) 1401hPDO3 (TX) 0111 879 (381h)–1023 (3FFh) 1802hPDO3 (RX) 1000 1025 (401h)–1151 (47Fh) 1402hPDO4 (TX) 1001 1153 (481h)–1279 (4FFh) 1803hPDO4 (RX) 1010 1281 (501h)–1407 (57Fh) 1403hSDO (TX) 1011 1409 (581h)–1535 (5FFh) 1200hSDO (RX) 1100 1537 (601h)–1663 (67Fh) 1200hNMT Error Control 1110 1793 (701h)–1919 (77Fh) 1016h, 1017h10.4 Sending SDO, NMT and Reading Emergency Messagethrough the Ladder DiagramYou can edit the request message mapping area to affect the transmission of SDO, NMT and Emergencymessages. The following table shows the corresponding relations between the request message mappingarea, response message mapping area, and PLC device.PLC device Mapping area Mapping lengthD25000-D25031 SDO request message, NMT service message andEmergency request message 64 bytesD24000-D24031 SDO response message and Emergency response message 64 bytesThe CANopen master can only send one SDO, NMT, or Emergency request message to the same device at atime. Clear the request message mapping area to zero when sending SDO, NMT, or Emergency requestmessage through the WPL program.
