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CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------
4
1 Introduction
1.1 Overview
CANopen, a kind of communication protocols, is an intelligent field bus
(CAN bus). It has been developed as a standard embedded network with a
high flexible configuration. It provides a standard communication protocol
transmitting real-time data in PDO (
P
rocess
D
ata
O
bjects), configuration data
in SDO (
S
ervice
D
ata
O
bjects), and network management data (NMT
message, and Error Control), even supports the special functions (Time Stamp,
Sync message, and Emergency message). Nowadays, CANopen is used on
many applications and in specific fields, such as medical equipment, off-road
vehicles, maritime electronics, public transportation, automation and so on.
The main control units CAN-8123/CAN-8223/CAN-8423 are specially
designed for the slave device of the CANopen protocols. In order to expand
the I/O channel, and make it more flexible, the
CAN-8123/CAN-8223/CAN-8423 supports up to 4 expansion slots for users to
increase applications by adding I/O channels. Users can choose either the
I-87K or the I-8000 series DI/DO/AI/AO slot modules for their application
purposes. The CAN-8123/CAN-8223 has one and two expansion slots
respectively, and the CAN-8423 supports four expansion slots. Each
expansion slot can insert in one I-87K or I-8000 series I/O module. All of these
main control units follow the CANopen Spec DS-301 V4.01 and DS-401 V2.1,
and supply a great deal of features to users, such as dynamic PDO, EMCY
object, error output value, SYNC cyclic and acyclic and so forth. In addition,
the CAN Slave Utility is also provided to allow users to create EDS files
dynamically. EDS files based on the CANopen DS-306 is compatible with other
CANopen master interface made by different manufacturers, also supporting
the EDS files. The general application for the CAN-8123/CAN-8223/CAN-8423
CANopen slave device architecture is as follows.