- Solutions
- Products
- Services & Support
-
News & Events
- ProSoft Insights (Blog)
- Podcast
- 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 Class 1 connection for Target and Originator as well as Explicit Messaging.
- 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.
- Supports CiA 443 Bootloader Auto-enable.
- Supports all error and emergency (EMCY) messages and handling.
- Supports all CANopen Baud rates.
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.
Architectures
Click on image(s) to enlarge
Features and Benefits
Configuration
The Slate Configuration Utility software is used for configuration and troubleshooting of the module. The stand-alone configuration utility allows users to define the setup and configuration of the CANopen Router/B module, connections with controllers and devices.
The configuration utility can be downloaded from the "Downloads" section.
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
Hardware
Specification
Description
Power Supply
Input: 10 to 32 VDC, (70 mA @ 24VDC)
Power Consumption
1.8 W
Dimensions (H x W x D)
148.0 x 34.0 x 116.0 mm
Connector
5-way terminal, 5.08 mm pitch.
Conductors
24 to 18 AWG
Enclosure Rating
IP20, NEMA/UL Open Type
Temperature
-20 to 70 °C
Earth Connection
Yes, terminal based
Emissions
IEC 61000-6-4
ESD Immunity
EN 61000-4-2
Radiated RF Immunity
IEC 61000-4-3
EFT/B Immunity
IEC 61000-4-4
Surge Immunity
IEC 61000-4-5
Conducted RF Immunity
IEC 61000-4-6
PDO Emulation Count
125
Emulated Devices Supported
125
MPDO Supported
Yes
Certifications
ODVA Certification 127.96 kB Last Modified 05/12/2023 UL/cUL; Class1, Div 2 238.99 kB Last Modified 01/25/2024 CE Declaration of Conformity (CE, UKCA, RoHS, UL) 570.54 kB Last Modified 06/26/2026 ATEX Letter Of Conformity 101.09 kB Last Modified 10/13/2023
