1 XN-312-GW-CAN gateway1.5 Important data for engineeringGateway XN-312-GW-CAN 06/16 MN050003-EN www.eaton.eu 191.5 Important data for engineeringIn connection with the I/O slice modules, the CAN gateway will appear as amodular module on the field bus. This manual focuses on the CAN gatewayexclusively.Each XN300 module is presented as a separate module, with its data, to thefield bus master.The following is the maximum number of I/O slice modules that can be runwith the gateway:Make sure to take the maximum volume of data that can be transmitted onthe field bus into account. The corresponding limit will be defined by the fieldbus.The following applies to CANopen: 4 TPDOs and 4 RPDOs with 8 bytes ofdata each will be provided to each field bus module, i.e., a total of 32 bytes ineach direction. Additional COB-IDs can be used with an offset of 32, 64, and96 bytes, meaning that a total of 4 * 32 = 128 bytes of payload data are avail-able in each direction. This means that there are a max. of 16 TPDOs and16 RPDOs available.Another 8 TPDOs and 8 RPDOs, with 8 bytes of data each, are available perdirection. However, these objects will not be mapped automatically, andneed to be mapped manually instead. Accordingly, for each of the PDOsfrom 17 through 24 that are in use, the user needs to enter a COB-ID that isnot yet being used in the system.This means that the total number of TPDOs and RPDOs available is max.24 TPDOs and 24 RPDOs.Accordingly, 128 bytes + 64 bytes = 192 bytes of payload data are availablefor each direction.Gateway field busXN-312-GW-CAN CANopen, according to DS301.4 profileGateway Maximum number of I/O slice modules on the system busXN-312-GW-CAN 32NOTICEWhen using these COB-IDs, none of the modules used on thesame CAN network should haveNode ID of XN-312 gateway + offset (32/64/96)as this will result in frame collisions on the bus.Field bus-slave Max. input data [Byte] Max. output data [Byte]CANopen 128 128
