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CANopen Router/B
A-CANOR/B
The A-CANOR/B CANopen® Router/B provides intelligent data routing between either EtherNet/IP™, Modbus® RTU or Modbus TCP/IP® and the CANopen bus network. This allows the user to integrate CANopen devices into a Rockwell® Logix platform (e.g. ControlLogix® or CompactLogix™) or any Modbus device with minimal effort.
The module can be configured to be either a CANopen Master or Slave allowing the user to not only integrate CANopen devices into a Logix or Modbus system, but to also allow the user to use Logix, Modbus, or EtherNet/IP devices in an existing CANopen network (by using the CANopen Router B in Slave mode). In a Logix system the module can use Direct-To-Tag technology allowing CANopen devices to exchange data with a Logix controller without the need to write any ladder or application code in Studio 5000.
The module also provides a range of statistics to simplify the diagnostic process as well as a CANopen packet capture for remote diagnosis. A built-in webserver provides detailed diagnostics of system configuration and operation, including the display of CANopen operation and communication statistics, without the need for any additional software.
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Features and Benefits
- CANopen Master or Slave.
- The router can be configured as an EtherNet/IP Target or Originator, Modbus Master or Slave, to read/write data from a CANopen network.
- EtherNet/IP, Modbus RTU (RS-232 and RS-485) or Modbus TCP/IP.
- Support for up to 124 CANopen Slaves (when in Master mode).
- CANopen Slave mode can emulate up to 128 PDOs with various CANopen node addresses.
- Support for up to 32 PDOs (receive and transmit) per CANopen Slave.
- Support for mapping of 128 SDOs with any type of operating interface.
- Time synchronization of the CANopen network.
- Direct-To-Tag technology for Logix controllers.
- Advanced diagnostics including packet capture and web server.
- Dual Ethernet ports which supports DLR (Device Level Ring).
- NTP (Network Time Protocol) for external time synchronization.
- Master Mode supports NMT message to initialize network.
- Supports CANopen LSS Node and Bit Rate assignment.
Specifications
EtherNet/IP Network
| Specification | Description |
| Connector | RJ45 |
| Conductors | CAT5 STP/UTP |
| ARP Connections | 200 max. |
| TCP Connections | 200 max. |
| CIP Connections | 15 max. |
| Communication Rate | 10/100 Mbps |
| Duplex Mode | Full / Half |
| Auto-MDIX Support | Yes |
| Embedded Switch | Yes, 2 x Ethernet ports |
| Device Level Ring (DLR) | Yes |
| Network Time Protocol | Yes |
Serial Port (RS-232)
| Specification | Description |
| Connector | 9-way terminal (shared with RS-485) |
| Connector | 24 to 18 AWG |
| Electrical Isolation | 1000 VDC |
| Supported Baud Rates | 1200, 2400, 4800, 9800, 19200, 38400, 57600, 115200 |
| Parity | Even, Odd, None |
| Data Bits | 8 |
| Stop Bits | 1 |
Serial Port (RS-485)
| Specification | Description |
| Connector | 9-way terminal (shared with RS-485) |
| Connector | 24 to 18 AWG |
| Electrical Isolation | 1500 Vrms for 1 minute |
| Supported Baud Rates | 1200, 2400, 4800, 9800, 19200, 38400, 57600, 115200 |
| Parity | Even, Odd, None |
| Data Bits | 8 |
| Stop Bits | 1 |
CANopen Network
| Specification | Description |
| Connector | 5-way terminal, 5.08 mm pitch. |
| Modes | Master, Slave |
| Supported Baud Rates | 10k, 20k, 50k, 125k, 250k, 500k, 800k,1M |
| CANopen Terminator | 120 Ω (Software enabled) |
CANopen Master
| Specification | Description |
| CANopen Slave Count | 124 |
| PDO Count per Device | 32 |
| SDO Mapping Count | 128 |
| CANopen Slave Auto Parameterize | Yes |
| CiA 443 Support | Yes |
| NMT Messages | Operational Control (e.g. Stopped, Preoperational, Operational), SYNC, TIME, EMCY |
| Layer Setting Services (LSS) | Node and BitRate assignment supported |
CANopen Slave
| Specification | Description |
| PDO Emulation Count | 125 |
| Emulated Devices Supported | 125 |
| MPDO Supported | Yes |
EtherNet/IP Target
| Specification | Description |
| Class1 Cyclic Connection Count | 4 |
| Logix Direct to Tag Supported | Yes |
EtherNet/IP Originator
| Specification | Description |
| Class1 Cyclic Connection Supported | Yes |
| Class 3 UCMM Connections Supported | Yes |
| Class 1 Connection Count | 5 |
| Class 3 UCMM Connection Count | 5 |
| Class 3 UCMM Mapping Count | 50 |
Modbus
| Specification | Description |
| Modes Supported | Modbus TCP/IP, Modbus RTU (RS-232, RS-485) |
| RS-485 Termination | 125 Ω (Software enabled) |
| Slave devices (Client/Master only) | 20 max. |
| Modbus Mappings (Client/Master only) | 100 max |
| Mapping Ranges | 0 to 65535 |
| Base Offset | Modbus (base 0); PLC (base 1) |
| PDO Emulation Count | 125 |
| Emulated Devices Supported | 125 |
| MPDO Supported | Yes |
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