Pilz PSSu H CAN - Manual (Page 16)

4.2 CANopen
4 Function description
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4-2
4.2 CANopen 4200 CANopen 4- 4.2.1 Connection to CANopen
Connection to CANopen 4- ][Funktionsbeschreibung_BA_Zusatz CAN Kopplung
A PSSu system with CANopen interface is a passive subscriber (Slave)
of the CANopen fieldbus.
The basic communication functions with CANopen conform to
CiA DS-301 V3.0. The central controller (Master) reads input information
from the slaves and writes output information to the slaves as part of
each cycle.
Bus termination must be activated on both ends of the bus.
CANopen
Master
CANopen
Slave 1
PSSu
CANopen
Slave 2
CANopen
Slave n