Designing and Planning a Network

The CANOPEN Communication Module is connected to the bus using the 5-pin COMBICON connector. For EMC suppression and protection against dangerous contact voltages, the shield of the bus cable has to be connected to protective earth outside the housing. The line ends of the bus cable have to be terminated using bus terminating resistors.

Within a CANOPEN network, the controller with the CANOPEN Communication Module is the NMT master. No other NMT master is allowed in this network. The NMT master completely controls all modules and their operational states. Up to 127 NMT slaves can be connected to an NMT master.

The CANOPEN master is able to:

• Change operational states of the slaves
• Parameterize the slaves (e.g. communication connections, time supervision, bus traffic)
• Configure slaves (e.g. type, number and channel operating mode)
• Read input data of the slaves
• Write output data of the slaves
• Read diagnostic data of the slaves
• Monitor the availability of the slaves
• Transmit control commands to synchronize the inputs or outputs of the slaves
• Read and write slave objects even during running operation

The CANOPEN Communication Module is as well able to:

• Transmit and receive CAN telegrams according to CAN 2.0 A (11 bit identifier) and CAN 2.0 B (29 bit identifier). This additional functionality is not required for pure CANOPEN operation.