Operation and communication
2
0
1
6
-0
9
41
Additional Information
CAN in Automation (CiA)
International Users and Manufacturers Group e.V.
Kontumazgarten 3
90429 Nuremberg, Germany
■
CiA Draft Standard V4.02
■
CiA Draft Standard 303 LED-Behavior
5.1.2
Basic Technical Information about CANopen
Connecting the Bus System
Within the CANopen network, all devices communicate via a 2-pin network cable. All devices
are then connected with the cable in parallel. To prevent interfering reflections within a network,
you must connect a suitable terminator to each end. For details of suitable cables and
terminators, see chapter 2.3.
Device Profile
CANopen defines various device profiles for numerous device types. At present, reader PGV*-
F200*-B16-V15 does not correspond to any special device profile. The "Generic Device" profile
is therefore assigned to the reader.
Bus Length
The maximum line length within a CANopen network is dictated by the signal runtime.
Communication within the network requires that signals are present on all bus nodes at the
same time. The network can be adapted to the existing line lengths through various baud rates.
The values in the table below serve as a reference point. The actual values may differ,
depending on the applications concerned.
For information on setting the baud rate for the reader, see chapter 4.3.
Process data objects (PDOs)
Service data objects (SDOs)
Are used for real-time data exchange
Permit access to the object directory; each
SDO assembles a point-to-point service
communication channel.
Typically messages with high priority
Messages with lower priority
Synchronous and asynchronous data transfer Typically asynchronous data transfer
Cyclical and noncyclical transmission
Typically noncyclical transmission
Data of the PDOs can be configured via SDOs Use of the data field is dictated by the CMS
(CAN Message Specification) Multiplexed
Domain Protocol.
Preformatted data field
Access to an entry in the device object
directory via index and subindex.
Baud rate [kBit/s]
Max. bus length [m]
1000
30
500
100
250
250
125
500
50
1000