The module can be configured to be either a CANopen Master or CANopen Slave allowing the user to not only integrate CANopen devices into a Logix or Modbus system, but to also allow the user to use EtherNet/IP or Modbus devices in an existing CANopen network (by using the CANopen Router/B in Slave mode).

CANopen Master

When the module operates as a CANopen Master, it can connect to a maximum of 124 CANopen Slaves. The process data (PDOs) from each CANopen Slave can be mapped to any of the operating interfaces (EtherNet/IP Target, Modbus Slave, Modbus Master, or EtherNet/IP Originator).

CANopen Slave

When the module is configured to be a CANopen Slave, it can emulate up to 128 Process Data Objects (PDOs) with each mapped item having the ability to be configured as a separate CANopen node.

The module can use one of four interface modes:

EtherNet/IP Target

As a EtherNet/IP target, the module can use one of two methods to read and write data to and from the CANopen network:

• • Direct-To-Tag technology

    This allows the CANopen Master or Slaves to exchange data with a Logix controller without the need to write any ladder or application code in Studio 5000. The CANopen data is directly read from, or written to, Logix tags.

  • EtherNet/IP Class 1 connection

    Here a remote EtherNet/IP device (e.g. a Logix controller) establishes a number of Class 1 connections to the module. CANopen data can be mapped into two separate input and output class 1 cyclic connections to the Logix controller (allowing up to 1KB input and 1KB output to be exchanged at the requested packet interval – RPI).

• Modbus Slave

  The diagnostics and CANopen data (from either CANopen Master or Slaves) will be written to, or read from, the module’s internal Modbus Registers (Holding or Input Registers). These registers can be accessed by a remote Modbus Master using either Modbus TCP, Modbus RTU232, or Modbus RTU485.

• Modbus Master

  The diagnostics and CANopen data (from either CANopen Master or Slaves) will be written to, or read from, the module’s internal Modbus Registers (Holding or Input Registers). The Modbus Auxiliary Map can then be used to configure the Modbus data exchange between multiple remote Modbus Slave devices and the module’s internal Modbus registers. The Modbus communication can be via Modbus TCP, Modbus RTU232, or Modbus RTU485.

• EtherNet/IP Originator

  As an EtherNet/IP originator, the module can use one of two methods to read and write data to and from the CANopen network:

  • EtherNet/IP Explicit Messaging

    This allows the CANopen Master or Slaves to exchange data with up to 5 EtherNet/IP devices. The module can use either Class 3 or Unconnected Messaging (UCMM) to Get and Set data in the remote EtherNet/IP devices.

  • EtherNet/IP Class 1 connection

    CANopen data (from either CANopen Master or Slaves) can be mapped to a max of 5 EtherNet/IP devices using input and output class 1 cyclic connections. This will allow the CANopen Router/B to “own” the EtherNet/IP target device and exchange CANopen data using the EtherNet/IP device’s input and output assemblies

The CANopen Router/B can map up to 100 Service Data Objects (SDOs) from various CANopen Slaves into any of the of the operating interfaces (EtherNet/IP Target, Modbus Slave, Modbus Master, or EtherNet/IP Originator) similar to the mapping of CANopen Slave Process Data Objects (PDOs). Additionally, the SDO map supports and option to write a static value to an SDO on start-up.