I have a Beckhoff EL6751 CANopen communication interface card in our control system. We are required to communicate with an Arduino board over CAN. I'm not fluent with CAN or Arduino, but from the documentation of the EL6751, it can send and recieve normal CAN messages. The EL6751 is a Master, so I don't know if that will be problematic. I have the EL6751 configured in the control system and now I need to get it interfaced to an Arduino board so that I can start testing communications, but not sure where to go from here, and/or what I need.
What minimum hardware do I require on the Arduino side in order to interface an Arduino board to the EL6751? I believe we are using a Teensy board on the "Arduino" side.
Do you see any issues where this won't work, either with the EL6751 or on the Arduino side?
Beckhoff sells a master and a slave version of the EL6751. We have the master version. What does this mean for us? I believe both control systems need to be able to send and receive messages back and forth to one another.
Does your particular model of Teensy include a CAN controller?
Have you purchased a CAN transceiver chip or breakout board?
Do you need electrical isolation?
Are you looking for free CANopen software, or do you have a budget for a commercial library.
Welcome! As per the information given you can use an UNO and the MCP2515 with Cory Fowler's library, that should work. However that only gets them talking you need to study there protocol as in CAN there is no master/slave relationship, every node can be a master. This concept is in there protocol. I believe it means one is a controller and the other is a slave but only guessing.
I highly recommend you have at least two Arduinos and MCP2515 to experiment with, CAN requires an ACK from another module or it will error out. The library has two very handy programs labeled transmit and receive if I remember correctly. You need to know the baud rate, and the crystal on the MCP2515 to get it to talk on your CANopen bus. Do not forget termination.