Omron C200HW-CORT21-V1, Руководство по эксплуатации

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Introduction
Section 1-1
2
1-1 Introduction
Based on CAN
Application areas
CANopen Master vs. Slave
CANopen specifications
CANopen is a networking system based on the serial bus CAN (Controller
Area Network).
CANopen was developed within the scope of an 'ESPRIT' EU research
programs led by Robert Bosch GmbH (initial developer of CAN) at the end of
1993. It encompasses a subset of the higher layer protocol CAL (CAN
Application Layer), developed by Philips Medical Systems, and some extra
functionality to meet the application area.
CANopen was originally designed for motion-oriented industrial control
systems, such as handling systems. But CANopen networks are also used in
other application fields, e.g. public transportation, off-road vehicles, medical
equipment, maritime electronics, and building automation.
CANopen makes full use of the powerful features of CAN. It supports the
multi-master functionality, that enables (cyclic or event-driven)
communication between any two or more nodes, and it offers a lot of other
configuration flexibility. This flexibility makes this protocol a bit less plug-and-
play than other common protocols, but it gives the system integrator more
power in fine tuning the network.
In contrast with other industrial fieldbus systems, there is no clearly defined
separation between the functionality of CANopen master- and slave devices.
This means that in practise there will be many different types of CANopen
Master devices and slave devices, each with their own specific level of
functionality.
This chapter only gives a brief description of CANopen; please refer to the
CANopen specifications, issued by CAN in Automation, for more detailed
information.
1-2 Device description
A CANopen device is best described by its OSI reference model and its
device model.
1-2-1 CANopen Reference Model
The following figure depicts the reference model of a CANopen device.