Identifier distribution
Default identifier
CANopen provides default identifiers for the most important communication objects, and these are derived from the 7-bit node address (the node ID) and a 4-bit function code in accordance with the following scheme:
For broadcast objects the node ID is set to 0. This gives rise to the following default identifiers:
Broadcast objects
Peer-to-peer objects
* For historical reasons, the Beckhoff default mapping applies to PDOs 3 and 4 in Beckhoff I/O devices. In most configurations, PDOs 3+4 contain data related to analog inputs and outputs, but there can also be "excess" data from digital I/Os, or data from special terminals. Details may be found in the Bus Coupler documentation.
Up until version 3 of the CANopen specification, default identifiers were assigned to 2 PDOs at a time. The Beckhoff Bus Couplers up to firmware status BA correspond to this issue of the specification. After firmware version C0 (CANopen version 4), default identifiers are provided for up to 4 PDOs.