6
2
CANopen Protocol Implementation
2.1
CANopen Electronic Data Sheet (EDS) File
The EM133 uses the certified AnyBus®-IC CANopen communication module from HMS
Industrial Networks AB. The Electronic Data Sheet (EDS) file EDS_ABIC_COP_V_1_01.eds
is shown in Section 6 and is provided with the device on an accompanying CD.
2.2
CANopen Version
The EM133 uses by default the CANopen protocol version 4.
2.3
Baud Rates
The EM133 supports 20 kbps, 50 kbps, 125 kbps, 250 kbps, 500 kbps, 800 kbps and
1Mbps baud rates with automatic baud rate detection, so the actual baud rate is only
configured in the CANopen master. The baud rate indicated in the EM133 setup shows the
baud rate used in communications between the device CPU and the CANopen
communication module and does not concern the CANopen baud rate.
2.4
Node Address
The
CANopen
node address can be manually set to the range of 0 to 126. When it is set to
126 (factory default).
The node address can be changed via the Serial Ports setup in the supplemental PAS
software.
The node address is saved to the device setup and can be inspected from the device front
panel.
2.5
Input and Output Buffers
The EM133 provides 32 bytes input and 32 bytes output buffers.
2.6
Extended Diagnostic Data
The EM133 does not support Extended Diagnostic Data.
2.7
CANopen Fault Action
Bus in Off-line Mode
When the CANopen goes off-line, the fieldbus outputs are cleared.
Bus in Idle Mode
When the CANopen goes to idle, the fieldbus outputs are cleared.
Fail-safe Outputs State
The fail-safe state for CANopen outputs is either zeroed outputs or frozen outputs so that
their contents would not be taken by the device as a new master command when the
CANopen goes to on-line.
