Topology Of The Canopen Link - ABB FCAN-01 User Manual

24 Overview of the CANopen protocol and the FCAN-01 adapter module
The physical medium of CANopen is a differentially driven two wire
bus line with common return according to ISO 11898. The
maximum length of the bus is limited by the communication speed.
The maximum theoretical number of nodes is 127. However, in
practice, the maximum number depends on the capabilities of the
used CAN transceivers.
Further information is available from the CAN in Automation
International Users and Manufacturers Group (www.can-cia.org).

Topology of the CANopen link

The figure below shows an example topology of the CANopen link.
CANopen
master
T
Other slave
device
T
T = Termination
ABB drive Other slave
Other slave
ABB drive
ABB drive
device
ABB drive
device