Switching to CANopen version 4

New features and notes regarding operation in existing networks

From firmware version C0, the Beckhoff CANopen bus nodes BK5120, BK5110 and LC5100 comply with the DS301 CANopen communication profile (version 4.01) and the new CiA recommendation for LED behavior (DRP303-3). The Bus Couplers have gained some new features, and the firmware performance was increased significantly. The Beckhoff CANopen devices pass the new CANopen conformance test. Unfortunately, the conversion also results in some functional changes, although compatibility problems are usually not encountered.