Higher layer protocol is user programmable (CAN2) communication.
The physical interface of CAN interface is according to ISO 11898 and CAN 2.0B protocol.
The downloading of the PLCopen application can only be done via CAN1.
All interfaces support bit rates 50, 125, 250, 500, 800, 1000 kbit/s
CAN1 and CAN2 are CANopen compatible and user programmable
For example CANopen, SAE J1939 or ISOBUS are available for both CANs.
All interfaces can be configured as listen only mode. An exception is CAN1, which is in boot up normal mode because it is used for CODESYS communication.
11-bit and 29-bit message receive and transmit are supported.
Transmitting of remote frames is supported in all CAN interfaces.
Receiving one remote frame is supported. This is received for the control unit's own node guard functionality.
The CAN communication pins and the power supply are connected in the control unit’s AMP8 connector as follows:
Designation |
Pin number |
CAN1 interface, system interface, user programmable communication
|
X4.2 (CAN H) X4.6 (CAN L) |
CAN2 interface, user programmable communication |
X4.7 (CAN H) X4.8 (CAN L) |
Factory use only, this pin must be left open |
X3.15 |