Basic Technical Information About Canopen - Pepperl+Fuchs PGV F200 Manual

PGV...-F200/-F200A...-B16-V15
Operation and communication
Process data objects (PDOs)
Are used for real-time data exchange
Typically messages with high priority
Synchronous and asynchronous data transfer Typically asynchronous data transfer
Cyclical and noncyclical transmission
Data of the PDOs can be configured via SDOs Use of the data field is dictated by the CMS
Preformatted data field
Additional Information
CAN in Automation (CiA)
International Users and Manufacturers Group e.V.
Kontumazgarten 3
90429 Nuremberg, Germany
http://www.can-cia.org/
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.
Baud rate [kBit/s]
1000
500
250
125
50
For information on setting the baud rate for the reader, see chapter 4.3.
Service data objects (SDOs)
Permit access to the object directory; each
SDO assembles a point-to-point service
communication channel.
Messages with lower priority
Typically noncyclical transmission
(CAN Message Specification) Multiplexed
Domain Protocol.
Access to an entry in the device object
directory via index and subindex.
Max. bus length [m]
30
100
250
500
1000
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