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büS/CANopen-Design
6.5
büS/CANopen specification
6.5.1
General data
Baud rate:
configurable via DIP switches 7, 8 or via software (selectable values – see chapter
“6.13.1 Setting the baud rate”)
factory setting: software configurable baud rate (pre-selected: 500 kbit/s)
Address:
1 ... 63 (via DIP switches 1 ... 6 adjustable);
factory settings: 0 = software configurable address / Node ID
(Node ID from 1 to 127 possible; pre- selection: auto-addressing of the Node ID,
see chapter “6.13.2 Setting the büS/CANopen address (Node ID)”)
Bus mode:
büS or CANopen (bus mode is software configurable only)
factory setting: büS
Process data:
büS/CANopen or e. g. EtherNet/IP (depending on configuration)
Gateway /
SPS
6 byte
input
1 byte
output
Gateway /
EtherNet/IP
1 (...6) byte
input
1 byte
output
(Configurations for further bus systems on request)
Inputs:
6 byte with:
(Control head –> gateway) 4 byte position feedback in m (resolution: 1 mm)
(= feedback as cyclic position signal of the target),
1 byte NAMUR status feedback signal,
1 byte position feedback (3 discrete feedback signals from the position measuring
system (positions S1 to S3) + 1 discrete feedback signal from the external initiator (S4);
power supply via büS/CANopen cable (11 ... 25 V DC)
(The acyclic analogue position signal of the target can be read out e.g. as
parameter “8681_Current_Position_mm_DevXX” (resolution: 0.1 mm) - see chapter
“6.19 Access to parameters (Read / Write)” on page 50)
Outputs:
1 byte for control of the 3 solenoid valves
(Gateway –> control head)
6.5.2
Total line length and drop line lengths of the bus cables
The bus line is a 4-core cable with additional shielding which must conform to the büS/CANopen specification. The
cable transmits both data/information and energy (low-voltage power supply for actuators and sensors)
The maximum total line length (sum of trunk lines and drop lines) of a network depends on the baud rate.
Some baud rates and their corresponding maximum lengths are listed in the table below.
Baud rate
Max. total
line length
Max. length of an
individual drop line
Max. total length of
all drop lines
125 kbit/s
200 m
6 m
100 m
250 kbit/s
100 m
6 m
55 m
500 kbit/s
40 m
6 m
30 m
Compare “Fig. 7: Network topology - büS/CANopen” on page 32.
english
Type 8681 büS/CANopen
Summary of Contents for 8681
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