CANopen:
• Operating mode CANopen-Master
• Process image with a maximum of 57344 I/O points
• Supports min. boot-up, emergency messages and life guarding
• Supported PDO modes: Event-controlled, synchronous, cyclic and remote PDO transmission
• Integrated device profiles: CiA DS-401, CiA DS-402 and CiA DS-406

CAN (additional functionality, not necessary for pure CANopen operation):
• Support of 11 bit identifiers according to CAN 2.0 A and 29 bit identifiers according to CAN 2.0 B
• Transmission and reception of any CAN telegrams via function blocks in the user program

Transmission technique:
• ISO 11898, potential separated
• Transfer rates of 20 kbit/s, 125 kbit/s, 250 kbit/s, 500 kbit/s and 1 Mbit/s
• Bus length up to 1000 m at 20 kbit/s and up to 40 m at 1 Mbit/s
• One bus can have up to 128 subscribers (master + 127 slaves)
• 5-pin COMBICON socket for bus connection

Communication:
• Message-oriented bus access, CSMA/CA
• Predefined master-slave connections
• 8 bytes of non-fragmented user data, for fragmentation any size is possible
• Synchronization of inputs and/or outputs via synchronous PDOs

Protection functions:
• Message transfer with Hamming distance HD = 6
• CAN fault recognition mechanisms via 15 bit CRC, frame check, acknowledge, bit monitoring
and bit stuffing
• Incorrect parameter settings are avoided because bus subscribers with faulty parameters are not
included in the user data operation.
• Adjustable behavior on subscriber failure. System continues normal operation and the error is
indicated at the master or the entire system is stopped.
• Response monitoring of the subscribers (node guarding)