CANDPSX user manual rev 2 Page 13 of 42
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4 OPERATING MODES
4.1 PROFIBUS DP SLAVE / CAN
In this operating mode, CANDPSX serves as a gateway with no specific protocol.
Data exchange between Profibus network and CAN network is carried out by means of standard
messages (data frames) having a programmable 11-bit identifier. Up to 32 CAN messages can be
programmed in transmission or reception.
This mode does not support any automatic function for managing the CAN bus network.
4.1.1 CAN messages
Up to 32 CAN messages can be programmed in transmission or reception. Data transmission is
evaluated at every data exchange request from Profibus. The data of any CAN message received
are immediately moved to the Profibus dual port and are available for any data exchange request.
Type-1 and type-2 CAN messages are supported. See § 23 for information on how to program
them.
4.2 PROFIBUS DP / CANOPEN MASTER
In this operating mode, CANDPSX serves as a gateway which, on the CAN side, can automatically
perform some CANopen master functions of node supervision.
The module can control up to 24 nodes on the basis of the programmed presences. Up to 24 CAN
messages are available for real-time data exchange (asynchronous PDOs of type 254), which can
be programmed as inbound or outbound messages.
The CANopen master functions supported are:
4.2.1 CANopen master state diagram
The system checks the slave nodes by applying the algorithm represented by the state diagram
below. This process may be executed either automatically (auto mode enabled, see § 15) or
through commands from the Profibus dual port (auto mode disabled, see § 15).
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