DescriptionThis specification specifies the CANopen application layer. This includes the data types, encoding rules and object dictionary objects as well as the CANopen communication services and protocols. In addition, this specification specifies the CANopen network management services and protocols. This specification specifies the CANopen communication profile, e.g. the physical layer, the predefined communication object identifier connection set, and the content of the Emergency, Timestamp, and Sync communication objects.

DescriptionThis document defines additional services and functionalities that extend the services and functionalities of the CiA 301: CANopen — application layer and communication profile. These additional services and functionalities are not required for CANopen devices, but may be useful for certain types of networks. This includes network management, configuration and program download, network variables and process image, dynamic SDO management, network redundancy, and multi-level networking.

DescriptionThe definition of the network management includes the definition of the network startup behavior as well as definitions that are related to networks that operate without NMT manager, networks with one CANopen device capable of the NMT manager mode, and networks with more than one CANopen device capable of the NMT manger mode (NMT flying manager for higher availability). These definitions are intended to be an add-on to the CANopen application layer and communication profile (see /CiA301/).

DescriptionThis document defines objects and file formats for the configuration manager and for program download and control.

DescriptionIn a network programmable CANopen devices can be characterized as a process having input variables and output variables. The set of variables will be arguments of the program and hence will be only known in a final state when the program is written. The arguments are handled as variables located in the object dictionary. The marking of such parameters depends on the programming system (e.g. /IEC61131–3/) and does not fall into the scope of this document. But it can be assumed that there is a set of network variables with the logic attribute EXTERN. Compiling/Linking (or interpreting) a program including EXTERN variables requires relocation information. Within CANopen devices this information is the index (and sub-index) of the variable. Most of the programming systems know the mechanism of a resource definition. This can be used to assign the CANopen attributes (index, sub-index, R/W, assignment of CANopen data type to local data type etc.) to the corresponding symbolic names (variable name in the program). The resource definition may be created with a simple editor by the user or with much more comfort by a configuration tool. Systems with a disk- ased file system may exchange the information directly, e.g. via a device configuration file. The names of variables may meet the rules of the underlying programming system. The definition does not fall into the scope of this document. This is the responsibility of the programmer/manufacturer. Defining EXTERN variables requires a rule for distributing the indices. It is called "dynamic index assignment".

DescriptionCANopen offers a communication mechanism between CANopen devices via SDO. These communication channels are always established between two CANopen devices. For accessing a CANopen device the first time at least one SDO channel per CANopen device is required. This is called the default SDO channel. Only the SDO manager is allowed to use that SDO channel. Simple networks may use SDO channels that are pre-configured between a pair of CANopen devices. This allows direct communication between CANopen devices without the need of a SDO manager. This document defines mechanisms that may be used for plug-n-play networks, without the requirement of a pre-configuration of the network. These mechanisms may be used to establish dynamic SDO connections between CANopen devices. These mechanisms require a specific CANopen device in the network that is able to handle the dynamic request; this CANopen device is called SDO manager. These mechanisms require CANopen devices that are able to perform a dynamic request; these CANopen devices are called SDO Requesting Device (SRD).

DescriptionThe network redundancy is intended to be an add-on to the CANopen application layer and communication profile (see /CiA301/). It is assumed, that a CANopen device with the need of safety-critical and mission-critical communication can use all the features defined by the communication profile. Safety-critical and mission-critical communication is achieved by the underlying structure defined in this specification. The manufacturer and the system integrator shall take care, that the hardware and software of the CANopen device support the safety-critical and mission-critical function and that the CANopen device is operated within its safety-critical and mission-critical limits.

DescriptionThis specification describes the interface for bi-directional CANopen-to-CANopen communication in multi-level networks. It supports multiple CANopen networks implementing hierarchical and non-hierarchical architectures.

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DescriptionThis series of specifications defines additional CANopen services and functionalities, especially related to dedicated application requirements. It comprises the following parts: Part 1: General definitions, Part 2: Network management, Part 3: Configuration and program download, Part 4: Network variables and process image, Part 5: SDO manager, Part 6: Network redundancy, Part 7: Multi-level networking, Part 8: Project management parameters, Part 9: Energy saving. This part of the additional application layer function documents specifies the energy saving modes and the related communication parameters for energy saving.

DescriptionThis recommendation describes the communication-related indicators. Additional application-related indicators are either described in the appropriate device profile or are manufacturer-specific.

DescriptionThis document provides device and network design recommendations for the CANopen physical layer. Additionally, it provides guidelines for selecting cables for use in CANopen systems.

DescriptionThis document specifies the layer setting services (LSS) and protocols for CANopen. These services and protocols are used to inquire or to change the settings of three parameters of the physical layer, data link layer, and application layer on a CANopen device with LSS server capability by a CANopen device with LSS manager capability via the CAN network.

DescriptionThis set of documents specifies the electronic description of CANopen devices in standardized file formats. These electronic descriptions are used to configure CANopen device parameters or for testing and diagnostic purposes. This set of documents consists of the three parts: Part 1: Electronic data sheet and device configuration file, Part 2: Profile database, Part 3: Network variable handling and tool integration. This part specifies mechanisms with regard to the handling of network variables, which are specified in CiA 302-4. In addition recommendations for tool integration are provided.

DescriptionThis set of documents specifies the electronic description of CANopen devices in harmonized file formats such as electronic data sheet and device configuration file, which are used to configure CANopen device parameters as well as for testing and diagnostic purposes. This set of documents consists of the three parts: Part 1: Electronic data sheet and device configuration file, Part 2: Profile database, Part 3: Network variable handling and tool integration. This part of the document specifies the electronic data sheets as well as the device configuration files. Additionally, it specifies CANopen Safety device entries for EDS and DCF in the Annex A, the relationship between object attributes and EDS (DCF) keynames in the Annex B, and EDS examples in the Annex C. The specification of an XML-based CANopen device description is not in the scope of this set of documents.

DescriptionThe usage of devices in a communication network requires configuration of the device parameters and communication facilities. CANopen defines a standardised way to access these parameters via the object dictionary. For handling of the complexity of CANopen systems software tools are required. This reduces the complexity of the planning, configuration and analysis process and significantly increases the security of the system. For this purpose software tools need an electronic description of the CANopen devices. To allow the usage of manufacturer independent tools, this document defines a standardised file format – called Electronic Data Sheet. Furthermore some derived file formats are specified. The Device Configuration File describes a concrete incarnation of a device configuration. The Module Data Sheet describes modules of devices with a modular structure.

DescriptionThis set of documents specifies the electronic description of CANopen devices in standardized file formats. These electronic descriptions are used to configure CANopen device parameters or for testing and diagnostic purposes. This set of documents consists of the three parts: Part 1: Electronic Data Sheet and Device Configuration File, Part 2: Profile database, Part 3: Network variable handling and tool integration. This part specifies the CANopen profile database format, which is used by tools (e.g. EDS file checker). The specification of an XML-based CANopen device description is not in the scope of this set of documents.

DescriptionCANopen is a field-bus protocol used in many diverse application: CANopen networks can be found not only in various industrial applications ranging from printing machines and robots to process controls, but also in ships, building automation, trains, trucks and even in coffee machines. CANopen is used for high accuracy drive synchronisation and for flight data recording. It is also in use in medical applications and has been chosen as the standard communication protocol for passenger information systems in public transport. This variety of applications leads to totally different requirements in regard to CANopen performance. The critical real-time requirement of one application may be a short response time to synchronisation messages relating to a single process data object, where as a different application may expect a node with many event driven process data objects to send these objects immediately after a certain input signal has changed. With drive synchronisation for instance, some applications need long time accuracy of the sync cycle and tolerate almost any jitter of a single sync message, and others require minimal jitter and tolerate long term drift. Regarding most other bus systems it is fairly straightforward to measure and publish communication performance figures for most node types. With CANopen this is not the case: the capability of CANopen to tailor the communication to the application needs makes it very difficult to determine valuable performance figures that are independent of the specific network set-up. For example, figures relating to reaction times not only depend on the processor used, but on the actual bus load, on the type of CAN controller being used, on the actual number and types of I/Os or drives connected, on the number and transmission types of the process data objects, on the guard or heartbeat cycle, and on many other settings and parameters in the object dictionary. Developing a CANopen node always involves a certain trade-off between performance and functionality. Therefore performance is a multi-dimensional value. The goal of this performance specification is to name and define a set of CANopen communication performance figures that may be used to compare devices and implementations within a specific application environment. It is not the aim of this paper to define a standard performance-measuring environment, as this would lead to implementations that perform fine in exactly this environment but disappoint under most other conditions. However, in order to establish some comparable conditions, this specification defines a number of standard busloads that may be used to simulate or enhance application environments. This performance test specification is aimed both at CANopen device developers and at CANopen system integrators. It may help developers determine relative performance figures regarding two implementation variants, thus leading to better devices and it may help system integrators to ask the right questions, thus leading to better CANopen networks.

DescriptionThis part specifies the ASCII-based communication syntax for CiA 309 gateway devices. The aim is to provide a lightweight counterpart to solutions with CORBA or OPC.

DescriptionThis part specifies the mapping to CANopen communication services to access CANopen networks from the other networks.

DescriptionThis specification defines the services and protocols to interface CANopen networks to other (e.g. TCP/IP-based) networks. This set of specifications is organized as follows: Part 1: General principles and services, Part 2: Modbus/TCP mapping, Part 3: ASCII mapping, Part 4: Amendment 7 to Fieldbus Integration into PROFINET IO. Part 2 specifies the mapping of services defined in CiA 309-1 on Modbus/TCP. It is intended to access CANopen devices via a CiA 309 gateway device from a remotely Modbus/TCP connected device (e.g. PLC or tool).

DescriptionThis guideline describes the integration of CANopen systems into PROFINET IO. It shall be used as basis for the development of linking devices between CANopen and PROFINET. Base for this document is the general fieldbus integration document [4]. The primary use case is to connect CANopen Devices to PROFINET controllers in that way, that the Linking Device is a modular device and the CANopen Devices are modules within the Linking Device. The elements of the system should behave as described in the PROFINET IO specification.

DescriptionConformance testing is the process of verifying that an implementation performs in accordance with a particular standard, specification or environment. A CiA 310 conforming implementation is one that satisfies both static and dynamic conformance requirements. Conformance testing is not intended to be exhaustive, but it does ensure with a reasonable degree of confidence that implementation is consistent with its specification and it increases probability that implementations will interoperate. The test specification includes a lower test comprising the test description and specification for CANopen devices with NMT slave functionality compliant to the CANopen application layer and communication profile. The test specification of dynamic and upper tests does not fall in the scope of this document as well as the definition of additional tests for checking conformance of a CANopen device to a certain CANopen device profile.

DescriptionThis specification defines the elements and rules for describing device profiles and communication network profiles for devices used in CANopen-based control systems. The content of this specification complies with the definitions and provisions of ISO 15745-1:2005/Amd1.

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DescriptionThis part of the test plan specifies the additional tests for contrast media injectors, which shall be tested for conformity according to CANopen application profile for medical diagnostic add-on modules (CiA 425-1 version 2.0. and CiA 425-2 version 2.0.2). The additional tests verify entries in EDS and object dictionary, which are defined in CANopen application profile for medical diagnostic add-on modules. Furthermore additional test steps verify the implementation of the device finite state automata and further object coherences, which are defined in application profile for medical diagnostic add-on modules. To achieve a certain level of conformity the DUT shall pass the corresponding tests defined in CANopen conformance test plan, CiA 312-1, plus those defined in this test plan.

DescriptionThis document provides the conformance test specification for devices implemented according to CiA 454, Part 1, 2, 3, 4, 5, and 6 version 2.0.

DescriptionThis part of CANopen device profile conformance test plan contains additional tests for generic I/O modules, which are tested for conformity according to CANopen device profile generic I/O modules. The additional tests verify entries in EDS and object dictionary, which are defined in CANopen device profile generic I/O modules. Furthermore additional test steps verify object coherences that are defined in that device profile. To achieve a certain level of conformity the CANopen device shall pass the corresponding tests defined in CANopen conformance test plan plus those defined in this part of the document series.

DescriptionThe document contains additional lower-, dynamic- and upper tests for CANopen devices that shall be tested according to a certain device profile. The definitions of the generic lower-, dynamic- and upper tests do not fall in the scope of this document.

DescriptionThis document specifies function blocks to produce or consume CANopen communication services for devices programmable in IEC 61131-3 languages and to provide local CANopen functions. This specification is suitable for programmable logic controllers (PLCs), PC-based controllers running a PLC-software, and other programmable devices compliant to IEC 61131.

DescriptionThis specification specifies the generic frame for the transparent transmission of CAN messages on a wireless network.

DescriptionThis document specifies the mapping of the Robotic technology component (RTC) finite state automaton to the CANopen network management (NMT) finite state automaton as well as the mapping of the RTC data types to CANopen data types. In addition, it describes the RTC-CANopen manager and the ProxyRTCs system integration.

DescriptionThis document specifies the procedure to configure safety-related parameters and to proof the authentication for devices implementing communication services given in EN 50325-5 (CANopen Safety). Additionally, it recommends the configuration signature and validation parameters to be used in CiA profile specifications.

DescriptionThis document specifies services and protocols for sleep and wake-up handling. It considers CANopen devices that use CAN transceivers with low-power mode or selective wake-up capability, as well. CANopen sleep and wake-up handling are implemented in e.g. light electric vehicles, add-on modules for special purpose cars, service robots, or any other application that operate on a limited amount of energy and in which energy management is therefore essential.

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DescriptionThis technical report describes the recommended practice and gives application hints for implementing automatic bit-rate detection in CANopen devices. With the Layer Setting Services (LSS) it is possible to change the bit-rate in CANopen networks. However, this mechanism fails in certain situations. Some low-cost devices that do not support LSS at all could also benefit from the recommended automatic bit-rate detection method. This technical report discusses an approach for automatic bit-rate detection in CANopen networks. As introduction the possible solutions to detect an unknown bit-rate for CAN controllers (Software / Hardware) are presented. The technical report will focus on situations where automatic bit-rate detection fails (no traffic on the bus, error frames) and how to avoid these deadlocks.

DescriptionThis document provides recommendations for avoiding CAN Remote Frames when using CANopen communication services.

DescriptionThis part specifies the mapping of CANopen services, introduced in the part 3, in HTTP (HTTPS) and WebSocket protocols with physical and logical addressing.