CANopen Interface
28 CANBus Networking Manual V2.0 July 8, 2019
Connection to a CAN bus is as simple as shown on the diagram above. 120 Ohm Termina-
tion Resistors must be inserted at both ends of the bus cable. CAN network can be up to
1000m long. See CAN specifications for maximum length at the various bit rates.
CAN Bus Configuration
To configure communication parameters via the RoborunPlus PC utility, your controller
must be connected to a PC via an RS232/RS485/TCP/USB port
Use the CAN menu in the Configuration tab in order to enable the CANopen mode. Addi-
tionally, the utility can be used to configure the following parameters:
• Node ID
• Bit rate
• Heartbeat (ms)
• Autostart
• TPDO Enable and Send rate
Node ID
Every CANopen network device must have a unique Node ID, between 1 and 127. The val-
ue of 0 is used for broadcast messaging and cannot be assigned to a network node.
Bit Rate
The CAN bus supports bit rates ranging from 10Kbps to 1Mbps. The default rate used in
the current CANopen implementation is set to 125kbps. Valid bit bates supported by the
controller are:
• 1000K
• 800K
• 500K
• 250K
• 125K
Heartbeat
A heartbeat message is sent to the bus in millisecond intervals. Heartbeats are useful for de-
tecting the presence or absence of a node on the network. The default value is set to 1000ms.
Autostart
When autostart is enabled, the controller automatically enters the Operational Mode of
CANopen. The controller autostart is disabled by default. Disabling the parameter will pre-
vent the controller from starting automatically after the reset occurs. When disabled, the
controller can only be enabled when receiving a CANopen management command.
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