CANbus

You can use the CANbus port on the CPU or a CANbus add-on module to communicate:

Power Requirements: 24VDC ( ±4%), 40mA max. per unit
Galvanic Isolation between CANbus and controller: Yes
Baud rate	Max. Network Cable Length:
1 Mbit/s	25 m
500 Kbit/s	100 m
250 Kbit/s	250 m
125 Kbit/s	500 m
100 Kbit/s	500 m
50 Kbit/s	1000 m
20 Kbit/s	1000 m
Note ♦	Cable lengths over 500 meters require an additional power supply.
Wiring Considerations
Use twisted-pair cable. DeviceNet® thick shielded twisted pair cable is recommended.
Network terminators: These are supplied with the controller. Place terminators at each end of the CANbus network. Resistance must be set to 1%, 121Ω, 1/4W.
Connect the ground signal to the earth at only one point, near the power supply.
The network power supply need not be at the end of the network.
Maximum number of controllers in a network: 63.

Parameter	Data Type	Description
Baud Rate	UINT32	Contains Baud set in CANbus Configuration
Cable Connection	Bit	Updated when a communication signal is transmitted by the controller 0 = Cable disconnected \| 1 = Cable connected
CANbus Sniffer: DT Index	UINT32	Contains the row number of the last row updated in the Sniffer Data Table
Layer2 Rx Initialized 11-bit (standard)	Bit	Layer 2 Rx Function: 0 = Not Initialized (errno) \| 1 = Initialized
Layer2 Rx Initialized 29-bit (extended)	Bit	Layer 2 Rx Function: 0 = Not Initialized (errno) \| 1 = Initialized
Layer2 Rx Unit ID #, 11-bit (standard)	UINT32	This is the ID# parameter from the Rx function. It is updated when the function is initialized. May be set in function as constant or tag value.
Layer2 Rx Mask, 11-bit (standard)	UINT32	Contains the value or tag assigned to the Mask parameter in 11-bit Rx functions
Layer2 Rx Message Count 11-bit (standard)	UINT32	The number of 11-bit (standard) type messages that have been received. Initialized at powerup.
Layer2 Rx Dropped Message Count, 11-bit (standard)	UINT32	The number of 11-bit (standard) type messages that have been dropped from the CAN Layer2 message queue (11-bit queue can contain 32 messages)Initialized at powerup.
Layer2 Rx Unit ID#, 29-bit (extended)	UINT32	This is the ID# parameter from the Rx function. It is updated when the function is initialized. May be set in function as constant or tag value.
Layer2 Rx Mask, 29-bit (extended)	UINT32	Contains the value or tag assigned to the Mask parameter in 29-bit Rx functions
Layer2 Rx Message Count, 29-bit (extended)	UINT32	The number of 29-bit (standard) type messages that have been received. Initialized at powerup.
Layer2 Rx Dropped Message Count, 29-bit (extended)	UINT32	The number of 29-bit (extended) type messages that have been dropped from the CAN Layer2 message queue (29-bit queue can contain 32 messages) Initialized at powerup.
Layer2 Tx Message Count	UINT32	The number of messages that have been sent. Initialized at powerup.
Layer2 Tx Dropped Message Count	UINT32	The number of failed Send attempts. Initialized at powerup.
Layer2 Tx RTR Message Count	UINT32	The number of RTR data requests that have been successfully sent. Initialized at powerup.
Layer2 Tx RTR Dropped Message Count	UINT32	The number of failed Send attempts. Initialized at powerup.
Layer2 RTR Response Port_1	UINT32	The number of messages that have been sent from port 1. Initialized at powerup.
Layer2 RTR Response Port_2	UINT32	The number of messages that have been sent from port 2. Initialized at powerup.
Layer2 RTR Response Port_3	UINT32	The number of messages that have been sent from port 3. Initialized at powerup.
Layer2 RTR Response Port_4	UINT32	The number of messages that have been sent from port 4. Initialized at powerup.
Reserved	UINT8 (0-179)

CANbus

CANbus IDs