GN-9261 4ms
Nexto Xpress as a CANopen slave 15ms.
In addition to these figures one needs to add the interval of the BusTask in CODESYS and also
the transfer time on the wires.
Example with GN-9261
A digital output on GN-9261 is connected to an input. A frame is sent to activate the output, an
event inside GN-9261 will fire since there is a change on the input and a frame is sent. This
round trip would consist of:
BusTask + transfer time + internal processing time + transfer time + BusTask
Limitations and recommended settings
The maximum recommended amount of nodes on a CANopen network with the X2 series is 32.
The CANopen standard allows to have up to 127 nodes but in order to have achieve that several
factors needs to be considered. Down below are some typical scenarios described in terms of
number of nodes, cable length and baudrate.
• At 125 KBit/s and below, more than 32 physical CAN nodes might work, provided that their differential
input impedance is 20 kOhm or more, and provided that every node inside the network does also support
more than 32 nodes! The “weakest” node in the network determines the supported maximum nodes inside
the CAN network.
• Up to 32 CAN nodes with 100 m max. and 250 KBit/s max. (One X2 control panel, 31 other CAN
nodes)
• Up to 32 CAN nodes with 50 m max and 500 KBit/s max. (One X2 control panel, 31 other CAN
nodes)
• A bitrate of 1Mbit/s and 800Kbit is not recommended. Always use the lowest bitrate possible, this will
increase the resistance of EMC and provide a more stable installation.
To restart the slave in case of a communication failure set the NMT Error Behaviour option to
Restart slave. For further details of the options refer to the online help or the link to the startup
document in chapter 9.9.
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