Technical data
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7.4
Communication protocols
7.4.1
CANopen Slave
Parameter
Value
Maximum number of cyclic input
data
128 bytes (Default)
Maximum number of cyclic output
data
128 bytes (Default)
Maximum number of receive
PDOs
16 (Default)
Maximum number of transmit
PDOs
16 (Default)
Exchange of process data
Via PDO transfer
·
synchronized,
·
remotely requested, and
·
event driven (change of date, event timer)
On request by host application program via packet
Acyclic communication
SDO upload/download (Server only)
Emergency Message (Producer)
Timestamp (Producer/Consumer)
Functions
Node Guarding / Life Guarding
Heartbeat: 1 Producer, max. 8 Consumer
PDO Mapping
NMT Slave
SYNC protocol (Consumer)
Behaviour in case of error in state
"operational" (configurable):
·
Change to "pre-operational"
·
No state change
·
Change to "stopped"
Baud rate
10 kBits/s, 20 kBits/s, 50 kBits/s, 100 kBits/s,
125 kBits/s, 250 kBits/s, 500 kBits/s, 800 kBits/s,
1 MBits/s
Automatic baud rate detection is supported.
Data transport layer
CAN frames
CAN frame type for CANopen
11 bit
Reference to firmware/stack
version
5.1
Table 30: Technical data CANopen Slave
CIFX M223090AE-CO\F | Hardware description and installation
DOC210203UM02EN | Revision 2 | English | 2021-09 | Released | Public
© Hilscher 2021
