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The data below applies to CANopen Slave firmware and stack version 35.5x.x.x The firmware/stack has been designed in order to meet the CiA Work Draft 301 V4.02 2.0 specification.

Section
Column
width35%

Key Features

Supported Protocols

  • CANopen
    • CAN Layer 2 Messages through Packet Interface
    Excerpt
    • Node guarding / life guarding and heartbeat
    • SYNC protocol
    • Emergency messages
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    width35%
      • producer
      • max. 8 consumer
    • PDO mapping
    • NMT Slave
    • SYNC protocol (consumer)
    Column
    width30%
    Panel
    titleOn this page

    Table of Contents


    ...

    FeatureDescription
    Maximum number of input data1020 bytes
    Maximum number of output data1020 bytes
    Maximum number of receive PDOs

    Standard Mode

    • 0 … 255 (netX 50/100/500) for mapping objects 2200 … 2203
    • 0 … 8 (netX 10) for mapping objects 2200 … 2203

    Extended Mode*

    • 256
    Maximum number of transmit PDOs

    Standard Mode

    • 0 … 255 (netX 50/100/500) for mapping objects 2000 … 2003
    • 0 … 8 (netX 10) for mapping objects 2000 … 2003

    Extended Mode*

    • 256
    Exchange of process data
    • Via PDO transfer
      • synchronized
      • remotely requested
      • event driven (change of date)
    • Requested by application
      • via packet
    Acyclic communication
    • SDO Up- and Download (Server only),
    • Emergency message (producer),
    • Timestamp (producer/consumer)
    Functions
    • Node guarding / life guarding, heartbeat
    • 1 producer
      • max. 64 consumer (netX 50/100/500)
    • max. 4 consumer (netX 10)
    • PDO Mapping
    • NMT Slave
    • SYNC protocol (consumer)
    • Error behavior in state operational:
      • change to state pre-operational
      • no state change
      • change to state stopped
    Baud rates
    • 10 kBit/s to 1 MBit/s
    • Automatic detection
    Data transport layerCAN Frames, can be accessed by programming the CAN DL layer
    CAN Frame type11 Bit
    • 11 /29 Bit layer 2 transparent

    *: In extended mode, the stack offers extended functionality. To use these functions requires an application program that configures and supports these functions, e.g. to create an own object dictionary. In extended mode, more input and output data can be used and transmit and receive PDOs can be used.

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