I am studying about the CANopen implementation in a motion control work.
CANopen is a protocol over tha CANbus. It is seen that, in the CANopen specification, theoretically at most 127 nodes could be connected to the a CANopen implementation.
But under what conditions? (i.e at what CANbus data rate and control loop speed).
For example, if my position control loop work @ 5kHz, How can I calculate the "optimum" number of nodes (i.e at most how many motor drives) in terms of reliable CANbus-loading?
If I am not wrong, CANbus loading should not be larger than 30% in event-driven mode, and not be larger than 50% in cyclic synchronous mode. I think that the best way a simulation. I am searching some simulations that calculate the CAN bus loading. There are some MATLAB and Simulink "CAN" bus simulations. But they don't include CANopen protocol implementation.
I want to see a point that after how many nodes (i.e motor drive) connected to the CANbus (in the CANopen implementation), CANbus will start to be insufficient, unreliable and fail. Please consider the control loop speed. I can not find any explanation or even a rule of thumb about this case.