CAN Communication
CANopen Basics
EPOS4 Communication Guide
CCMC | 2019-11 | rel8759
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3.2 CANopen Basics
Subsequently described are the CANopen communication features most relevant to the maxon’s EPOS4
positioning controllers. For more detailed information consult above mentioned CANopen documentation.
The CANopen communication concept can be described similar to the ISO Open Systems Interconnection
(OSI) Reference Model. CANopen represents a standardized application layer and communication profile.
Figure 3-9 CAN communication – Protocol layer interactions
3.2.1 Physical Layer
CANopen is a networking system based on the CAN serial bus. It assumes that the device’s hardware fea-
tures a CAN transceiver and a CAN controller as specified in ISO 11898. The physical medium is a differ-
ently driven 2-wire bus line with common return.
Figure 3-10 CAN communication – ISO 11898 basic network setup
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