Features

CANopen®

  • Operating mode CANopen®-Master
  • Process image with a maximum of 57344 I/O points
  • Supports min. boot-up, emergency messages and life guarding
  • Supported PDO modes: Event-controlled, synchronous, cyclic and remote PDO transmission
  • Integrated device profiles: CiA DS-401, CiA DS-402 and CiA DS-406

CAN (additional functionality, not necessary \ for pure CANopen® operation)

  • Support of 11 bit identifiers according to CAN 2.0 A and 29 bit identifiers according to CAN 2.0 B
  • Transmission and reception of any CAN telegrams via function blocks in the user program

Transmission technique

  • ISO 11898, potential separated
  • Transfer rates of 20 kbit/s, 125 kbit/s, 250 kbit/s, 500 kbit/s and 1 Mbit/s
  • Bus length up to 1000 m at 20 kbit/s and up to 40 m at 1 Mbit/s
  • One bus can have up to 128 subscribers (master + 127 slaves)
  • 5-pin COMBICON socket for bus connection

Communication

  • Message-oriented bus access, CSMA/CA
  • Predefined master-slave connections
  • 8 bytes of non-fragmented user data, for fragmentation any size is possible
  • Synchronization of inputs and/or outputs via synchronous PDOs

Protection functions

  • Message transfer with Hamming distance HD = 6
  • CAN fault recognition mechanisms via 15 bit CRC, frame check, acknowledge, bit monitoring and bit stuffing
  • Incorrect parameter settings are avoided because bus subscribers with faulty parameters are not included in the user data operation.
  • Adjustable behavior on subscriber failure. System continues normal operation and the error is indicated at the master or the entire system is stopped.
  • Response monitoring of the subscribers (node guarding)