Canopen Protocol Description; Introduction - Faulhaber MCLM 300x CO Series Communication Function Manual

CANopen protocol description

3 CANopen protocol description
3.1

Introduction

CANopen
CANopen is a standard software protocol. A CAN hardware environment is required for
communication using CANopen. Up to 127 nodes can be addressed within a CANopen net-
work. The maximum transmission speed is 1 MBit/s.
CAN standardisation
The CiA defines the following aspects in CiA 301:
communications structure

 Control and monitoring functions
CANopen device profiles have been defined for a wide range of device classes, such as:
CiA 402 for drives

CiA 401 for input and output devices

Structure of a CANopen telegram
A CANopen telegram has an 11-bit identifier and can contain up to 8 bytes of user data.
Tab. 1:
11-bit identifier
11-bit
2nd edition, 9-11-2018
Schematic structure of a CANopen telegram
up to 8 bytes user data
8-bit 8-bit 8-bit 8-bit 8-bit
7000.05039, 2nd edition,
14
8-bit 8-bit 8-bit
9-11-20187000.05039