CANopen Protocol Parameters
| Firmware v00r73 or lower | Firmware V00r74 or superior | |
|---|---|---|
|
CANopen Functionality |
Slave |
Slave |
|
Device ID Number |
1 to 127 |
1 to 127 |
|
Baud Rate Supported (Kbits) |
1000, 500, 250, 125 |
1000, 500, 250, 125 |
|
NMT |
Slave |
Slave |
|
Server SDOs |
1 (Standard) |
1 (Standard) |
|
Client SDOs |
No |
No |
|
Receive PDOs |
2 |
4 |
|
Transmit PDOs |
2 |
4 |
|
PDO Mapping |
Static |
Dynamic and Static |
|
Emergency Telegram |
Yes |
Yes |
|
Nodeguarding |
No |
Yes |
|
Heartbeat |
Yes |
Yes |
|
Sync supported |
Yes |
Yes |
