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6. CAN in the ecomat R 360
6.1. Technical specifications
Bus type: FULL-CAN
Physical layer: ISO/DIS 11898
Baud rate: 10 kBit/s ... 1 MBit/s
Protocol: CANopen
free protocol
2048 data objects in the system (CAN specification 2.0B)
Identifier use
1 ... 2048 identifiers freely available for the data transfer
From these the following identifiers are reserved:
220 ... 221 reserved for the display tdm R 360
223 ... 252 device identifiers of the participants
254 device identifier of an unconfigured module
255 identifier of the download system (e.g. PC)
System configuration
The ecomat R360 is delivered with the device identifier 254 (ID
32) as participant 0. The download system uses this identifier
for the first communication with an unconfigured module.
Only
one
unconfigured module may be connected with the
network. After the new participant number 1 ... 30 (corresponds
to the node identifier 1 ... 30) was assigned via the programming
software, a download or debugging can be performed and
another device can be integrated into the system (also see
section 6.5).
6.2. Exchange of data via CAN
The exchange of data via CAN is based on the internationally
standardized CAN protocol of the data link layer (level 2) of the
7-layer ISO/OSI reference model according to ISO 11898.
Each bus participant can send messages (multi-master
capability). The exchange of data operates similar to radio. Data
are sent to the bus without sender or address. The data are only
qualified by their identifier. It is the job of each participant to
receive the transmitted data and to check by means of the
identifier whether the data are relevant for this participant.
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