"Addresses" in CANopen
In CANopen there are different types of addresses (IDs):
• COB ID
The CAN Object Identifier addresses the message (= the CAN object) in the list of devices.
Identical messages have the same COB ID. The COB ID entries in the object directory contain the
CAN identifier (CAN ID) among others.
• CAN ID
The CAN Identifier identifies CAN messages in the complete network. The CAN ID is part of the
COB ID in the object directory.
• Node ID
The Node Identifier identifies the CANopen devices in the complete network. The Node ID is part
of some predefined CAN IDs (lower 7 bits).