CANopen Link
 
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Description
The CANopen port is a built-in communication channel dedicated to CANopen communication. The CANopen port of the processor module is fitted with a SUB-D9 connection.
The following table shows the specification of the CANopen link:
Characteristic
Description
Value
Di-electric strength
CANopen
500 Vac or 700 Vdc between logic common and CANopen (@0…2,000 m altitude).
CANopen physical spec.
Type
Master
Address range
1…16 (16 slaves max. on the CPU)
Baud Rate
1 Mbps, 500 kbps, 250 kbps, 125 kbps, 50 kbps, 20 kbps
Connector type
Shielded D-SUB 9
Isolation support
Yes
The following figure shows the LED indicator of the CANopen Communication:
The following table lists the definition of the LED indicators:
Label
Color
Description
CAN RUN
Green
Indicates the CANopen operation status
CAN ERR
Red
Indicates the detected errors on CANopen
NOTE: The priority of CANopen led status is: on > 2 flashes > 1 flash > flashing > off.
The following table describes the LED pattern and the indication:
LED
Pattern
Indication
CAN RUN (green): CANopen operation
on
CANopen network is operational
slow flashing (on for 200 ms, off for 200 ms, repeating)
CANopen network is pre-operational, or master being alone
1 flash
CANopen network is stopped
off
CANOpen is not configured
CAN ERR (red): CANopen detected errors
on
  • CANopen bus is stopped, CAN controller has status "BUS OFF"
  • Not configured
slow flashing (on for 200 ms, off for 200 ms, repeating)
  • CANopen configuration is not valid
  • Invalid configuration
  • Logic configuration is different from physical configuration. For example, missing or different slaves are detected.
1 flash
One of the detected error counters has reached or exceeded the alert level
2 flashes
A heartbeat event has taken place
off
No CANOpen error
Representation
The following figure shows the CANopen port and the pin labels:
The following table lists the pin assignment of CANopen port:
Pin No.
Signal Name
1
Reserved
2
CAN_L
3
CAN_GND
4
Reserved
5
Reserved
6
GND
7
CAN_H
8
Reserved
9
Reserved