3
CANopen Specifications
CANopen Interface
CANopen Data Transfer Settings
CANopen is the networking concept based on the international standard CAN. CANopen is
defined as a uniform application layer by the DS 301 specifications of the CiA (CAN in
automation).
Connector (GP unit side)
XM2C-0942-502L <OMRON Co.>
Recommended Cable connector
(Cable side)
See page 5.
Interfit Bracket
#4-40 (inch screws are used.)
Pin Arrangement
Signal Name
Description
1
-
2
CAN_L
CAN-L bus line
3
CAN_GND
CAN ground
4
-
5
-
6
-
7
CAN_H
CAN-H bus line
8
-
9
-
Shell
FG
Frame Ground (Common with SG)
Communication Type
1:N
Connection Method
Multi Drop Connection
Transfer Method
CSMA/NBA. Half-duplex serial transmission.
Transfer distance speed/
Transmission length
No. of nodes
63 nodes max. Bit variable input: 512 points
*1
, Bit variable
output: 512 points
*1
, Integer variable input: 128 points
*2
,
Integer variable output: 128 points
*2
.
*1
When using GP-Pro EX under Ver.2.50, Bit variable enables to input/output 256 points.
*2
When using GP-Pro EX under Ver.2.50, Integer variable enables to input/output 64 points.
6
(GP Unit Side)
9
5
1
Baud rate
*1
Bus length
1000 kbps
20m
800 kbps
40m
500 kbps
100m
250 kbps (factory settings)
250m
125 kbps
500m
50 kbps
1000m
*1
Set the baud rate with the software.
