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Deutschmann Automation GmbH & Co. KG
CANopen/CAN Layer 2
Example:
In this example only the COB-ID´s „0000" (hex), „0181" (hex), „0201" (hex) and „0080" (hex) are
processed, i.e. transferred to the fieldbus.
12.4 Protocol CAN 2.0B
A maximum of 13 Byte of data are displayed on the fieldbus side (1 Byte frame info, 4 Byte
COB-ID, 8 Byte payload).
Additional configurations on the fieldbus side are possible:
Fieldbus trigger byte (i.e. data exchange = On Trigger), fieldbus length byte and Swap word.
Data display on the fieldbus side (SPS receives CAN) „11 Bit Mode":
1. Byte number of received data from CAN (Low Nibble)
MSB = 0 => 11Bit Frame received
2. Byte not used
3. Byte not used
4. Byte COB-ID High Byte
5. Byte COB-ID Low Byte
6. Byte Data n
7. Byte Data n+1
8. ...
Example 1. Line: 8 Payload, COB-ID 181, Payload 11 ... 88
Example 2. Line: 3 Payload, COB-ID 203, Payload 01 02 03
08 00 00 01 81 11 22 33 44 55 66 77 88
03 00 00 02 03 01 02 03 00 00 00 00 00
23.2.22
UNIGATE fieldbus gateway UNIGATE
Implemented Protocols with Universal Script - Protocols
®
CL - CANopen
®
V. 3.7
47
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