42 Startup
imc CANSAS Users Manual - Doc. Version 1.9 - 05.12.2014© 2014 imc Meßsysteme GmbH
2.6.9 CANopen
CANopen is a standardized protocol based on CAN with a 7-layer protocol stack for a variety of
hardware and software. Its open structure allows automated configuration of a CAN-network of up to
111 nodes and up to 127 logical devices per node. At present this protocol is used in a every possible
field. While it once was used primarily for drive-controlled machines, it is now found in off-road vehicles,
medical equipment and even building automation.
By means of standardized communication objects for real-time data and configuration data, as well as
additional communication objects, developers can avoid performing time-consuming implementation
and specification work for the CAN-Bus. Uniform access to all device parameters is thus made possible.
Some imc CANSAS modules are configured upon purchase as CANopen devices. They support the
CANopen protocol in accordance with "CiA DS 301 V4.0.2" and "CiA DS 404V1.2"; 4 PDOs in INT16,
INT32, and FLOAT.
A imc CANSAS module can be set either as a Standard CAN-Bus or CANopen module under the heading
"Special functions" on the "CANopen" page. If it is set as a CANopen module, then the node-ID can be
entered in this window. In this case, the imc CANSAS module’s entry in the tree diagram has only the two
branches "Bus Interface" and "Special functions", along with their respective settings parameters. No
other parameters can be set by means of imc CANSAS.
If "Readable configuration = ON" is set, the CANopen settings are saved in the module, so that they
are available upon the respective module being integrated into the system.
Detailed descriptions of each module type are available in the separate CANopen documentation.
This can be found along with the module’s ESD file on the imc CANSAS Installation CD.
Modules supporting CANopen can be found here .
2.6.9.1 Limitations
imc CANSAS modules with CANOpen suffer certain limitations, since CANOpen protocol does not
include some functions:
The imc CANSAS module is not able to generate virtual channels
No control over LEDs
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