CANBus Networking Manual 7
Supported CAN Modes
SECTION 1
CAN Networking
on Roboteq
Controllers
Some controller models are equipped with a standard CAN interface allowing up to 127
controllers to work together on a single twisted pair network at speeds up to 1Mbit/s.
Supported CAN Modes
Four CAN operating modes are available on Roboteq controllers:
1 - RawCAN
2 - MiniCAN
3 - CANopen
4 - RoboCAN
RawCAN is a low-level operating mode giving total read and write access to CAN frames.
It is recommended for use in low data rate systems that do not obey to any specific stan-
dard. CAN frames are typically built and decoded using the MicroBasic scripting language.
MiniCAN is greatly simplified subset of CANopen, allowing, within limits, the integration
of the controller into an existing CANopen network. This mode requires MicroBasic script-
ing to prepare and use the CAN data.
CANopen is the full Standard from CAN in Automation (CIA), based on the DS402 specifica-
tion. It is the mode to use if full compliance with the CANopen standard is a primary requisite.
RoboCAN is a Roboteq proprietary meshed networking scheme allowing multiple Robo-
teq devices to operate together as a single system. This protocol is extremely simple and
lean, yet practically limitless in its abilities. It is the preferred protocol to use by users who
just wish to make multiple controllers work together with the minimal effort.
This section describes the RawCAN and MiniCAN modes.
Detailed descriptions of CANopen and RoboCAN can be found in specific sections of
this manual.
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