CANopen is a CAN-based application layer protocol. It was developed as a standardized embedded network with highly flexible configuration capabilities. CANopen was designed for motion-oriented machine control networks, such as handling systems. By now it is used in many various fields, such as medical equipment, off-road vehicles, maritime electronics, public transportation, building automation, etc.

The CANopen specifications cover application layer and communication profile, as well as a framework for programmable devices, recommendations for cables, connectors, SI units, and prefix representations. The application-layer as well as the CAN-based profiles are implemented in software.

CANopen features

  • Allow multi-master architecture on one bus
  • 10k,20k,50k,125k,250k,500k,800k,1M bps baud rate
  • The bus length is from 25m(1M bps) to 5Km(10K bps)
  • Easy access to all device parameters.
  • Device synchronization.
  • Cyclic and event-driven data transfer.
  • Up to 128 nodes can be participated in the same CAN network.
  • High transmission speed.
  • Support Guarding and Heartbeat protection mechanism

CANopen Communication

  INITIALISING PRE-OPERATIONAL OPERATIONAL STOPPED
PDO     X  
SDO   X X  
Synchronisation object   X X  
Time Stamp Object   X X  
Emergency Object   X X  
Boot-Up Object X      
Network Management Object   X X X

CANopen Statue Transition

Lifhtweight Device Monitoring

CANopen provides two network protection mechanisms, Node Guarding and Heartbeat. For Node Guarding, the master will send a request to check slave status. If some slave does not confirm this request, the master will indicate them with Node Guarding Fail. For Heartbeat, these slaves will send heartbeat message to the master let master know these slaves are alive. If the master does not detect some one’s heartbeat, then the master will indicate it with Heartbeat Fail.

CANopen Digital I/O Pair-connection

CANopen Digital I/O Pair-connection is a special function for CANopen remote I/O. It can send the DI value that is detecting by the CANopen DI Slave to others CANopen DO Slaves through the CANopen network, and then these CANopen DO Slaves will output the value. It is useful for users need to detect a DI signal and output a DO alarm at the same time.

CAN-2000 series and CAN-8000 series are designed for combining sensors and actuators into, CANopen or DeviceNet network. All of them provide corresponding EDS files for standard CANopen or DeviceNet master interfaces. The mainly differences between CAN-2000 series and CAN-8000 series are the product size and the capabilities of I/O expansion. CAN-2000 series is a palm-size and stand-along slave device. CAN-8000 series is useful for centralizing control system. It provides 1/2/4/8 slots for fl exible I/O selections to match various applications. Each slot allows you plugging one I-8000/I-87K series I/O module to expand I/O channels, and hot-swap technique is supported.

With the same hardware, the CAN-2000 series and CAN-8000 series can be installed either of, CANopen fi rmware. The product names are classifi ed as

CANopen: CAN-8x23, CAN-2xxxC

CANopen Series Common Features

  • Up to 128 nodes can be participated in the same CAN network
  • CANopen Version: DS-301 v4.01
  • Device Profile: DSP-401 v2.0
  • Error Control: Node Guarding protocol
  • Emergency Message: Yes
  • 2500Vrms photo couple isolation on the CAN side
  • Jumper or DIP switch for 120Ω terminal resistor of CAN bus
  • Watchdog inside 
 
Multifunction I/O Module
Model Analog Input Analog Output Digital Input Digital Output 
Channels Input Range Channels Output Range Channels Contact Channels Type
CAN-2026C
 
6 ±10 V, ±5 V, ±1 V, ±500 mV,
±150 mV, ±20 mA
(with external 125 Ω resistor)
2 0 ~ +5 V, ±5 V,
0 ~ +10 V, ±10 V
2
Wet, Sink
1 Open Collector,
CAN-2026D DeviceNet Sink
CAN-2022C
 
2 ±10V, ±5V, ±2.5V, ±1.25V, ±1V, ±500mV, ±250mV 2 0 ~+5V, +/-5V,
0~+10V,+/-10V
4 Wet contact (Sink) 4 Isolated Open Collector (Sink)
 
Analog I/O Modules
Model Analog Input Analog output
Channels Input Range Sensor Channels Output Range
CAN-2015C
 
8 - RTD (Pt100, Pt1000, Ni120, Cu100, Cu1000, Pt100) - -
CAN-2017C
 
8 ±10 V, ±5 V, ±1 V, ±500 mV,
±150 mV, ±20 mA
(with external 125 Ω resistor)
- - -
CAN-2018C/S
 
8 ±2.5 V, ±1 V, ±500 mV, ±100 mV,
±50 mV, ±15 mV, ±20 mA
(with external 125 Ω resistor)
Thermocouple
(J, K, T, E. R. S, B, N, C)
 
-
-
CAN-2019C/S
 
10 ±10 V, ±5 V, ±2.5 V, ±2 V, ±500 mV,
±100 mV, ±50 mV, ±15 mV, ±20 mA
(with external 125 Ω resistor)
Thermocouple
(J, K, T, E. R. S, B, N, C)
- -
CAN-2019C/S2
 
CAN-2024C
 
- - - 4 0 ~ +5 V, ±5 V, 0 ~ +10 V,
±10 V, 0 ~ 20 mA, 4 ~ 20 mA
 
Digital I/O Modules
Model Digital Input Digital output
Channels Contact Sink/Source Channels Type Sink/Source
CAN-2053C
 
16 wet Sink/Source - - -
CAN-2054C
 
8 wet Sink/Source 8 Open Collector Sink
CAN-2055C
 
8 wet Sink/Source 8 Open Source Source
CAN-2057C
 
- - - 16 Open Collector Sink
CAN-2060C
 
4 wet/Dry Sink/Source 4 Relay Form A, 5A
 
Counter/PWM Modules
Model Counter Input PWM Output
Channels Signal Resolution Speed Channels Load Current Resolution Speed
CAN-2084C
 
4 / 8 Up, Up/Down, Dir/Pulse, A/B phase, Frequency 32 bit 250 kHz - - - -
CAN-2088C
 
8 Up Counter 32 bit 500 kHz 8 1 mA 16 bit 500 kHz
 
Remote I/O Unit
Model Product Description
CAN-8123-G
 
CANopen Embedded Device with 1 I/O Expansion Slot, support I-87K module and I-8K module
CAN-8223-G
 
CANopen Embedded Device with 2 I/O Expansion Slots, support I-87K module and I-8K module
CAN-8423-G
 
CANopen Embedded Device with 4 I/O Expansion Slots, support I-87K module and I-8K module
CAN-8823-G
 
CANopen Embedded Device with 8 I/O Expansion Slots, support I-87K module and I-8K module
 

Modules Support
 

Type I-8K Series I/O I-87K Series I/O Type I-8K Series I/O I-87K Series I/O
High Profile Low Profile High Profile Low Profile High Profile Low Profile High Profile Low Profile
AI module I-8014W       DI module I-8040W I-8040 I-87040W I-87040
I-8014CW I-8017H I-87005W   I-8040PW   I-87040PW  
I-8017HS   I-87013W I-87013 I-8040W-A1      
I-8017HW       I-8046W   I-87046W  
I-8017DW   I-87015W   I-8048W I-8048 I-87051W I-87051
I-8017HCW   I-87015PW   I-8051W I-8051 I-87052W I-87052
    I-87016W   I-8052W I-8052 I-87053W I-87053
    I-87017W I-87017 I-8053W I-8053 I-87053PW  
    I-87017W-A5   I-8053PW   I-87053W-A5  
    I-87017W-RMS   I-8053W-A1   I-87053W-A2  
    I-87017RCW   I-8058W I-8058 I-87053W-AC1  
    I-87017DW       I-87053W-E5  
    I-87017ZW       I-87058W I-87058
    I-87017RW       I-87059W  
    I-87018W I-87018        
    I-87018PW   AO module I-8024W I-8024 I-87024RW I-87022
    I-87018RW   I-8024UW   I-87024W I-87024
    I-87018ZW   I-8028UW   I-87024DW I-87026
    I-87019RW   I-8026W   I-87024UW  
    I-87019PW       I-87028UW  
    I-87019ZW       I-87028VW  
DO module I-8037W I-8037 I-87037W       I-87028VW-20V  
I-8041W I-8041 I-87041W I-87041     I-87028CDW  
I-8041PW   I-87041PW          
I-8041AW   I-87057W I-87057        
    I-87057PW   DI & DO module I-8042W I-8042 I-87054W I-87054
I-8056W I-8056 I-87061W          
    I-87061PW   I-8050W I-8050 I-87055W I-87055
I-8057W I-8057 I-87064W I-87064        
I-8057PW       I-8054W I-8054 I-87063W I-87063
I-8060W I-8060 I-87065W I-87065 I-8055W I-8055    
I-8064W I-8064 I-87066W I-87066 I-8063W I-8063    
  I-8065 I-87068W I-87068        
    I-87068W-2A     I-8077    
  I-8066 I-87069W I-87069        
I-8068W I-8068 I-87069PW   Counter module I-8084W I-8080    
I-8069W I-8069     PWM module I-8088W      
 
Model CANopen Gateway
Module Name I-7232D-G
 
GW-7433D
 
Product Description CANopen Slave to Modbus RTU Master Gateway Modbus TCP/RTU Slave to CANopen Master Gateway
CANopen Interface
CANopen Interface 1 channel (CAN_H, CAN_L), and the other is for bypass
CANopen Function CANopen slave CANopen master
(Supports at least 120 CANopen commands)
CANopen Baud Rate 10 k, 20 k, 50 k, 125 k , 250 kbps , 500 k, 800 k, 1M
CANopen Version CiA 301 v 4.02 and CiA 401 v2.01
Guarding Function Yes
Heartbeat Function Heartbeat Producer Heartbeat Consumer
Emergency Message Yes -
UART Interface
COM1 Connector RS-232 (TxD, RxD, RTS, CTS, GND) or RS-485 (Data+, Data-), Non-isolated RS-232 (TxD, RxD, RTS, CTS, GND), Non-isolated
COM1 Function Only for configuration Modbus RTU Slave
COM2 Connector RS-485 (Data+, Data-) with internal Self-Tuner ASIC; Non-isolated
COM2 Function Modbus RTU Master
(Supports Max. 10 Modbus RTU ommands)
Modbus RTU Slave
Ethernet Interface
Ethernet - 10/100 Base-TX
Ethernet Function - Configuration or Modbus TCP Server
Modbus Function Code 01, 02, 03, 04, 06, 15 01, 02, 03, 04, 05, 06, 15,16
 
CANopen master series are I-8123W and I-87123 for PACs and PISO-CPM100 for PC based. In the series, there is CANopen master kernel inside. So, they can be used in high performance system. For economical solution, we provide the PISO-CAN card with the CANopen master lib.
CANopen Master Selection Guide
Model Product Description
PISO-CPM100-D
 
1 Port Intelligent CANopen Master PCI Board (9-pin D-Sub Connector)
PISO-CPM100-T
 
1 Port Intelligent CANopen Master PCI Board (5-pin Screw Terminal Connector)
PISO-CPM100U-D
 
1 Port Intelligent CANopen Master Universal PCI Board (9-pin D-Sub Connector)
PISO-CPM100U-T
 
1 Port Intelligent CANopen Master Universal PCI Board (5-pin Screw Terminal Connector)
PEX-CPM100-D
 
1 Port Intelligent CANopen Master PCI Express Board (9-pin D-Sub Connector)
PEX-CPM100-T
 
1 Port Intelligent CANopen Master PCI Express Board (5-pin Screw Terminal Connector)
PCM-CPM100-D
 
1 Port Isolated Protection CAN Communication PCI-104 Module
I-8123W-G
 
1 Port High Performance Intelligent CANopen Master Module
I-8123W-CPS-G
 
1 Port high performance CANopen Slave Module
I-87123-G
 
1 Port Intelligent CANopen Master Module
I-7565-CPM-G
 
USB to CANopen Master Converter
 

CANopen Master Series:

Product Name I-7565-CPM PISO-CPM100(U) PEX-CPM100 PISO-CAN 200/400(U) PEX-CAN200i I-8123W I-87123
Hardware
On board CPU 16-bit CPU
80M Hz
16-bit CPU
80M Hz
None None 16-bit CPU
80M Hz
16-bit CPU
80M Hz
Interface USB 5 V / 3.3 V PCI bus x1 PCI Express bus 5 V / 3.3 V
PCI bus
x1 PCI Express bus I-8K Slot (WinPAC,XPAC) I-87K Slot (WinPAC,ViewPAC)
CAN Connector 9-pin D-Sub 5-pin screw terminal
9-pin D-Sub
5-pin screw terminal
9-pin D-Sub
5-pin screw terminal
9-pin D-Sub
5-pin screw terminal 5-pin screw terminal
CAN Controller SJA1000
CAN Transceiver 82C250
Isolation on CAN 2500 Vrms
Terminal Resistor Selected by jumper(120Ω)
CANopen
Protocol Specification CANopen Standard -- CiA Draft Standard 301
Baud Rate Selection Programmable
Baud Rate 10 kbps, 20 kbps, 50 kbps, 125 kbps , 250 kbps , 500 kbps, 800 kbps, 1000 kbps
Maximum Slave nodes 127 Nodes
PDO Function Support dynamic PDO function
PDO Object Provide 20 RxPDO and 20 TxPDO object
EMCY Message Save the least EMCY
SDO Protocol Support Expedited SDO and Segment SDO protocol
On Line Edit Nodes Support adding or removing devices on line
NMTError Control Support Node Guarding Event
Driver
DLL Support
OS Version Win 2K/XP Windows XP/7/8/10 (32-bit/64-bit OS) Win CE 6/7, WES7 Win CE 5/6
Development Tool Visual C++ 6 , Visual Basic 6 , Borland C++ Builder , Delphi VS .NET eVC++ 4 , VS .NET

Comparison with PISO-CPM100 and PISO-CAN 200/400-D/T 

Hardware Compare

Performance Test with PISO-CPM100 and PISO-CAN 200/400-D/T

Product Name PISO-CPM100 PISO-CAN-200/400 with CANopen Library
Protocol decoder 186 CPU PC CPU
Time stamp 186 Timer (0.1 ms) PC Timer (about 1 ms)
CPU Loading Light Heavy
Performance High Normal
Application Various and complex CANopen application General purpose CANopen application

Test environment:

CPU:Intel(R) Pentium(R) 4 CPU 2.40 GHz
OS:Microsoft Windows XP Professional Version 2002 Service Pack 2
RAM:512 MB
CAN Baudrate:1000 bps

Test result: 

Function PISO-CPM100 (ms) PISO-CAN200/400 with CANopen library (ms)
Add Node Average 45.502 1265 ~ 1280
Read 4 bytes data by SDO Average 2.487 19.37 ~ 19.47
Read 9 bytes data by SDO Average 2.971 58.21 ~ 58.61
Write 4 bytes data by SDO Average 2.479 18.81 ~ 19.69
Read 8 bytes data by PDO Average 2.355 16.49 ~ 16.57
Write 8 bytes data by PDO Average 1.738 0.13

 

Note 1:

The data of above list is average of 1000 message.

Node 2:

If user use the guarding function with PISO-CAN200/400 with CANopen library, the guard error event may be occured when the slave is more and the guarding time is shorter. This is because of that the accuracy of timer of windows is not enough.

The I-8123W/PISO-CPM100U provides the motion control library now. This library follows the CANopen standard CiA 402. It is available on the ViewPAC / WinPAC / XPAC platform. The CiA 402 is one kind of the standard CANopen application profiles, and specially designed for motion control systems. In addition to making the management of the CANopen motors easy, this communication protocol can reduce the wire connection between the controller and motors, and provide rapid troubleshooting functions. With the I-8123W/PISO-CPM100U and CANopen Motion Library, you can do various motion control functions, such as position control, velocity control, toque control, and synchronous action without having the background knowledge of the complex and abstruse CANopen protocol. The CANopen Motion Library is able to link many CANopen motors so that the multi-axis motion control by one host becomes reachable. While controlling motors, you can also use the APIs of the I-8123W/PISO-CPM100U library to access CANopen remote I/O modules which follows the CiA 401 at the same time. Therefore, building a motion control application becomes more easy and convenient.

Feature:

  • Compliant with CiA 402 v1.1
  • Reduce 50% wires connection cost
  • Physical layer with fault tolerance and anti-noise
  • Support max. 127 motors in one network
  • Absolute and relative position control
  • Velocity control
  • Torque control
  • JOG control
  • Support max. 127 motors synchronous action
  • Various Homing control
  • Support torque limitation with CANopen command
  • Support Win 2000/XP/Vista or Win 7(32-bit version)