Feature Comparison

CANopen® Interfaces for SIMATIC® Industrial Automation Systems


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Supported CANopen Features

  1 SI CANopen
for SIMATIC ET200S
CM CANopen
for SIMATIC S7-1200
Implemented CiA
specifications
CiA 301 version 4.2
CiA 302 version 4.1, parts 1-3
CiA 301 version 4.2
CiA 302 version 4.1, parts 1-4
Process Data Objects
(PDO)
128 RPDO, 128 TPDO
64 RPDO, 64 TPDO
TPDO transmission
types and protocols
Acyclic synchronous, cyclic synchronous,
event-driven PDO write protocol
Acyclic synchronous, cyclic synchronous,
event-driven PDO write protocol
Service Data Objects
(SDO)
SDO functionality, normal (segmented) and expedited upload and download protocols
SDO functionality, normal (segmented) and expedited upload and download protocols
Device monitoring
Heartbeat producer and consumer
Heartbeat producer and consumer
CAN bit rate
20 kbit/s – 1 Mbit/s
20 kbit/s – 1 Mbit/s

CANopen Master Specific Features

  1 SI CANopen
for SIMATIC ET200S
CM CANopen
for SIMATIC S7-1200
Network Management
(NMT)
Master functionality with NMT node control
and NMT error control
Master functionality with NMT node control
and NMT error control
Support for NMT startup process according
to CiA 302
Node guarding
(NMT error control)
Master and slave
Master and slave
Service Data Objects  (SDO) Client and server Client and server

CANopen Slave Specific Features

  1 SI CANopen
for SIMATIC ET200S
CM CANopen
for SIMATIC S7-1200
Network Management
(NMT) state machine
yes yes
Node guarding
(NMT error control)
Slave Slave
Synchronization Consumer Consumer
Service Data Objects (SDO) Server Server
Automatic bit rate detection
yes
no