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

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