SICK DL100 Pro CANopen - General Canopen Installation Notes; General Information about Canopen Communication; Cia 301 Communication Profile

10.2 General CANopen installation notes
Topology
The CAN network is set up as a line structure. Stub lines are generally not recom‐
mended, as internal reflections may occur. If stub lines are required, observe the
maximum values according to see table 26, page 54. A terminator of 120Ohm must
be connected to the ends of the bus line (trunk line).
CANopen
Controller
Terminator
Tap
Terminator
Trunk Line
Drop
Line
Tap
Figure 24: CANopen topology (example)
Baud rates, length of bus line (trunk line) and stub lines (drop lines)
The baud rate must be adapted to the length of cable. The following baud rates are
supported by the device.
To avoid signal reflections, the specified lengths of cable should not be exceeded for
stub lines.
Table 26: Baud rate, length of bus line (trunk line) and stub lines (drop lines)
Baud rate
[kbit/s]
Maximum
length of the
bus line [m]
Nominal bit
time [μs]
Range for sam‐
ple point (sample
point) [%]
Maximum
length of the
stub line [m]
Maximum
total length
of all stub
lines [m]
1000 25 1 75 ... 90 1.5 7.5
800 50 1.25 75 ... 90 2.5 12.5
500 100 2 85 ... 90 5.5 27.5
250 250
1)
4 85 ... 90 11 55
125 500
2)
8 85 ... 90 22 110
1)
The total internal delay of the device is considered as follows: 210ns at 1Mbit/s and 800kbit/s,
310ns (including 2 x 40ns optocoupler) at 500kbit/s and 250kbit/s, 450ns (including 2 x 100ns
optocoupler) at 125kbit/s, 1.5times at ≤50kbit/s
2)
Setting the sample point as close as possible to 87.5% of the bit time is recommended.
10.3 General information about CANopen communication
CANopen: is a communication protocol based on CAN. CANopen defines different pro‐
files. The CiA 301 communication profile and the CiA 406 device profile are used in the
device.
10.3.1 CiA 301 communication profile
The communication profile specifies the CANopen application layer. These include, for
example, data types, predefined identifiers for communication objects, contents of
emergency or sync objects, etc. The device supports the CiA 301 communication profile
in version 4.2.
10 CANOPEN INTERFACE
54
O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen 8015418/19HA/2022-12-15 | SICK
Subject to change without notice