Technical Data
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PC Cards cifX Compact PCI, Mini PCI, Mini PCIe, PCI-104 | Installation, Operation and Hardware Description
DOC120205UM53EN | Revision 53 | English | 2019-03 | Released | Public
© Hilscher, 2008-2019
10.4.21 CANopen Slave
Parameter
Description
Maximum number of cyclic input data
512 bytes
Maximum number of cyclic output data
512 bytes
Maximum number of receive PDOs
64
Maximum number of transmit PDOs
64
Exchange of process data
Via PDO transfer
- synchronized,
- remotely requested and
- event driven (change of date, event timer)
On request of the host application program by packet
Acyclic communication
SDO upload/download (server only)
Emergency message (producer)
Timestamp (producer/consumer)
Functions
Node guarding / life guarding
Heartbeat: 1 producer, max. 64 consumer
PDO mapping
NMT Slave
SYNC protocol (consumer)
Error behaviour (configurable):
- in state operational: change to state pre-operational
- in any state: no state change
- in state operational or pre-operational: change to state stopped
Baud rates
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
Auto baudrate detection is supported
CAN layer 2 access
Send/receive via API supported (11 bit/29 bit)
Data transport layer
CAN Frames
CAN Frame type for CANopen
11 Bit
Reference to firmware/stack version
V3.7
Table 189: Technical Data CANopen Slave Protocol
