CAN, CANopen and SAE J1939
Helmholz supplies the components and the knowledge to connect CAN networks to PROFINET and S7 controllers and to keep them running: gateways for CANopen, CAN Layer 2 and SAE J1939, interface modules, bridges, wireless links, connectors and testers, plus design reviews and on-site troubleshooting in the Benelux.
- PROFINET gateways for CANopen master, CANopen slave, CAN Layer 2 and SAE J1939
- Configured via GSDML in the hardware configurator of your PLC, without extra software or handling blocks
- Testers that show the physical quality of the bus: levels, error frames and failing nodes
- Design reviews and on-site troubleshooting, with a report on the cause and advice for a reliable network
Go straight to: Gateways to PROFINET · CAN for S7 · CAN bridges · Wireless · Connectors · Diagnostics · Services. Or see all infrastructure components.
Gateways to PROFINET
The PN/CAN gateway brings CAN data straight into the I/O area of your PROFINET controller. It is a PROFINET IO device of Conformance Class C with two ports, an integrated switch and MRP, runs CAN at up to 1 Mbit/s, and is configured completely via GSDML in the hardware configurator, without handling blocks or extra software.
Selection
Which gateway do I need?
| Variant | Choose it when |
|---|---|
| CANopen Master | Your PLC controls the CANopen network: up to 126 slaves with 16 TPDOs and 16 RPDOs each, NMT, SYNC, heartbeat and nodeguarding |
| CANopen Slave | The CANopen network already has a master, for example a machine with its own controller. Configured via GSDML plus an EDS or DCF file |
| Layer 2 | A CAN device uses its own protocol directly on CAN frames, with 11-bit or 29-bit identifiers |
| SAE J1939 | You connect engines, vehicles or mobile machines, or want to read along on a J1939 network |
Every variant comes in two housings:
PN/CAN Gateway SLIM
Only 25 mm wide on the mounting rail, for −40 to +75 °C.
PN/CAN Gateway FLAT
The flat housing that has been in machines for years, in the same four variants.
PROFIBUS DP to CANopen
Still running on PROFIBUS? The netTAP 100 connects CANopen nodes to a PROFIBUS DP controller.
Gateway PROFIBUS DP to CANopen
netTAP 100, master for up to 126 CANopen nodes.
Selection tool
Other protocol combinations
Choose two protocols and see which products connect them.
CAN for S7
Connect CAN directly to an S7-300. The CAN 300 PRO plugs into the central or expansion rack and works in Layer 2 mode or as CANopen master or slave, from 10 kbit/s to 1 Mbit/s.
CAN 300 PRO
CAN 2.0A/2.0B, CANopen master and slave, USB for diagnostics.
Handling blocks for CAN
CANParam configuration tool and blocks for Layer 2 and CANopen.
CAN bridges
Extend a CAN network, isolate segments electrically, or couple two CAN networks with different bit rates or protocols. Filters pass only the identifiers you need, which lowers the bus load on both sides.
CAN bridge, 2 x CAN bus interfaces
For CAN 2.0A/B, CANopen, DeviceNet and SAE J1939.
Wireless CAN
Where cables wear out or cannot be laid, such as rotating machine parts and cranes. The DATAEAGLE 6000 was developed for wireless CAN and CANopen: plug and play with automatic bit rate detection, up to 500 kbit/s, a range of up to 3 km and 128-bit AES encryption.
DATAEAGLE 6000 Compact
IP20, for mounting in the control cabinet.
DATAEAGLE 6000 X-Treme
IP65, for direct use in the field or outdoors.
Connectors
Bus connectors for the 9-pin Sub-D interface, with screw terminals and a switchable 120 Ω terminating resistor. Up to 1 Mbit/s.
CAN bus connector, axial
Straight cable outlet, small enough for tight spaces.
CAN bus connector 90°
Cable outlet at 90°.
Note: a CAN bus needs a 120 Ω terminating resistor at both ends. Switch the resistor in the connector on at the first and last node only.
Diagnostics and troubleshooting
Node failures, communication errors or a machine at standstill often start with the physical bus. These testers show the signal quality on the bus, for CAN, CANopen, DeviceNet and SAE J1939.
CANtouch
Battery-powered with touch display; results archived for documentation.
CAN-Bus Tester 2
Protocol monitor, oscilloscope and continuous bus monitoring.
Common causes of CAN bus faults
Most intermittent CAN problems are physical, not software. These are the causes we find most often in the field:
- Termination – a missing or extra terminating resistor. With the power off you should measure about 60 Ω between CAN_H and CAN_L: two 120 Ω resistors in parallel.
- Bit rate – one node set to a different bit rate fills the bus with error frames.
- Cable length and stubs – the higher the bit rate, the shorter the bus and the stubs must be.
- Shielding and grounding – interference causes errors that come and go with the machine’s load.
Services for CAN networks
Our network engineers work on CAN, CANopen and SAE J1939 as well as PROFINET, PROFIBUS and Industrial Ethernet, so they also see the whole chain: from the CAN node via the gateway to the PLC.
Before you build
Network design review
We check your CAN network design, give neutral advice or a second opinion, and explain the consequences of each choice.
When it fails
Troubleshooting on site
We measure the bus with CAN testers, analysers and oscilloscopes, fix the cause and leave a report on what went wrong, the state of your network and how to keep it reliable.
Quick question
Advice by phone or online
Stuck on a CANopen configuration, a J1939 PGN or a gateway in your PLC project? Schedule a call with one of our engineers.
Connecting CAN to PROFINET? On the PROFINET and PROFIBUS side we are the official PI Competence Center (PICC) in the Netherlands, so we can also commission and certify that network according to the PI guidelines. See all network services.
Frequently asked questions
What is the difference between CAN, CANopen and SAE J1939?
CAN (ISO 11898) defines how frames travel over the bus. CANopen and SAE J1939 are protocols on top of CAN: CANopen is common in machine building and automation, SAE J1939 in commercial vehicles, engines and mobile machines. Devices that use neither send their own protocol directly in CAN frames, known as CAN Layer 2.
How do I connect a CANopen device to a PROFINET PLC?
With a PN/CAN gateway. Import its GSDML file into the hardware configurator, add the gateway as a PROFINET IO device and map the CAN data into the I/O area of the PLC. Choose the CANopen Master variant when the PLC controls the CANopen network, and the CANopen Slave when the network already has a master.
CANopen or Layer 2: which gateway do I need?
If your devices speak CANopen, choose a CANopen master or slave gateway; the gateway handles PDOs, SDOs and network management for you. If a device sends its own protocol directly in CAN frames, choose Layer 2.
PN/CAN gateway SLIM or FLAT?
Both are available in the same four variants. The SLIM takes only 25 mm on the mounting rail.
Can I connect an NMEA 2000 network to PROFINET?
NMEA 2000, the marine network standard, is based on CAN and SAE J1939: 250 kbit/s, 29-bit identifiers and PGNs. It adds its own connectors and Fast Packet messages for data longer than 8 bytes. We have no dedicated NMEA 2000 gateway; whether a PN/CAN gateway SAE J1939 or Layer 2 fits depends on which PGNs you need. Contact us and we will check your application.
Do I need extra software or handling blocks for the PN/CAN gateway?
No. The PN/CAN gateway is configured completely via its GSDML file in the hardware configurator of your PROFINET controller. The CANopen Slave also uses an EDS or DCF file for its CANopen device configuration.
Can you troubleshoot our CAN network on site?
Yes, often at short notice. We measure the physical bus and the communication, fix the cause and leave a report with the state of the network and advice to keep it reliable. Contact us to plan a visit.
Can I order components online?
Yes, most CAN components are in our online shop. See the webshop FAQ for ordering and delivery.
Help with your CAN network
Planning a CAN network, connecting it to PROFINET, or chasing an intermittent fault? Tell us which devices and which controller you work with, and we will help you choose the right components or find the cause on site.