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FMU Technical Manual
3.4 FP-CANopen Communication Specifications
Technical compliance to specification DS 301 version 4.01
Services supported
Physical layer
CAN frame types 11 bits
Read/Write PDO protocol
Trigger for PDO transmission, event driven and
remotly requested, transmission modes
synchronous and asynchronous.
PDO mapping in accordance with DS 301, V3.0 and
V4.01
Emergency message collection
NMT functionality, supporting
Reset_Communication, Start_Remote_Node,
Stop_Remote_Node and Enter_Preoperational.
SYNC protocol
Node guarding protocol
Optional heartbeat protocol
SDO up/download protocol
Simple boot-up process, reading object 1000H for
identifying
Limits of the implementation
The following device-specific limitations apply to the CANopen implementation.
Item
Max. size for complete dynamic configuration via
message interface
Max. size for node parameter data set via message
interface
Max. number of PDOs per node (send and receive)
Max. number of receive PDOs per node (master
sends PDO to node)
Max. number of transmit PDOs requested via RTR
per node (node sends PDO to master)
Max. SDO configuration per node
I/O area size for CANopen network for each direction
Baud rates supported
The following limitations apply to the CANopen specification.
Item
Max. number of devices in CANopen network
Max. data count per PDO
3.4 FP-CANopen Communication Specifications
Services not supported
Bootup protocol, no reaction to bootup events of a node.
Optional high resolution synchronization protocol
Optional SDO block up/download protocol
Timer triggered PDO transmission
Dynamic SDO establishment
Multiplexed PDOs, MPDO protocol
Reading identity object of a node for identification
TIME protocol
Verify configuration boot-up process
Boot-up process in accordance with DS 302, NMT
master
Coexistence of a second NMT master
Modular devices
Synchronous counter for SYNC protocol
EC1-based product
59000 bytes
9600 bytes
64
32
20
9000 bytes
3584 bytes
10kBaud, 20kBaud, 50kBaud, 100kBaud, 125kBaud
250kBaud, 500kBaud, 800kBaud, 1MBaud
EC1-based product
127
8 bytes
19
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