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3HNA025019-001 ABB Robot Spraying board process I / O board

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The CAN protocol was originally developed for the European automotive industry,

so as to replace expensive cabling by an affordable network cable. Today, it is

also used in the field of automation for transmitting process data between control

systems, decentralized

I/O modules, drives, valves, etc. CAN features a high level of transmission

security, since large portions of the monitoring mechanisms have been implemented directly in the CAN chip. DeviceNet and CANopen utilize the physical

structure and the data transport mechanisms of CAN (Controller Area Network).

The difference lies in the transmission protocols. DeviceNet and CANopen can be

used correspondingly for the AC500 and AC31 controller series and for field-busneutral FBP devices (decentralized I/Os and intelligent switching devices), via the

CANopen-FBP plug connector.

Data transmission

Two types of message have been defined: I/O data transfer and direct link. I/O

data transfer is used for time-critical process data, while the direct link can be, for

example, used for diagnostic messages.

Bus access for subscribers

The connection ID with the lower address has higher priority on the bus. Data is

transmitted by the source, while the sinks (i.e. receivers of the data) have like wise

been specified during the configuration phase.

CANopen

The bus operates on the master/slave principle with one master and up to 127

slaves. A shielded twisted-pair cable is used, according to ISO 11898. Cable