SIG01 Application layer


This SIG develops and maintains technical documents for the basic CANopen CC application layer functions and related conformance test plans as well as electronic data sheets and the layer setting services (LSS).


Martin Rostan, Beckhoff


Title Date Status Size Published Action
SIG application layer2017-05-31Minutes2.5 MiB2017-07-17Login
SIG application layer2017-05-19Minutes123 KiB2017-07-17Login
SIG application layer2017-05-15Minutes2.0 MiB2017-07-17Login
TF security2017-06-21Minutes11.4 MiB2017-07-17Login
TF security2016-06-14Minutes129 KiB2017-07-17Login
TF wake-up handling2017-05-10Minutes1.4 MiB2017-07-17Login
TF wake-up handling2017-06-19Minutes128 KiB2017-07-17Login
TF wake-up handling2016-07-06Minutes118 KiB2017-07-17Login
SIG application layer2017-03-24Minutes11.5 MiB2017-07-17Login
SIG application layer2017-03-31Minutes142 KiB2017-07-17Login
SIG application layer2017-04-12Minutes289 KiB2017-07-17Login
SIG application layer2017-04-21Minutes294 KiB2017-07-17Login
SIG application layer2017-04-28Minutes127 KiB2017-07-17Login
TF CiA 3092017-06-07Minutes1.6 MiB2017-07-17Login
TF CiA 3092017-04-24Minutes1.7 MiB2017-07-17Login
TF CiA 3092017-04-06Minutes1.1 MiB2017-07-17Login
SIG application layer2017-03-03Minutes109 KiB2017-07-18Login
SIG application layer2017-02-21Minutes129 KiB2017-07-18Login
SIG application layer2017-02-10Minutes269 KiB2017-07-18Login
SIG application layer2017-02-02Minutes138 KiB2017-07-18Login
SIG application layer2017-01-27Minutes372 KiB2017-07-18Login
SIG application layer2017-01-20Minutes227 KiB2017-07-18Login
SIG application layer2017-01-13Minutes1.0 MiB2017-07-18Login
SIG application layer2016-12-09Minutes196 KiB2017-07-18Login
SIG application layer2016-10-20Minutes6.4 MiB2017-07-18Login
SIG application layer2016-10-14Minutes110 KiB2017-07-18Login
SIG application layer2016-09-30Minutes1.1 MiB2017-07-18Login
SIG application layer2016-09-27Minutes115 KiB2017-07-18Login
SIG application layer2016-08-25Minutes178 KiB2017-07-18Login
SIG application layer2016-07-28Minutes123 KiB2017-07-18Login
SIG application layer2016-07-08Minutes141 KiB2017-07-18Login
SIG application layer2016-06-20Minutes261 KiB2017-07-18Login
SIG application layer2016-06-08Minutes137 KiB2017-07-18Login
SIG application layer2016-05-30Minutes510 KiB2017-07-18Login
SIG application layer2016-05-03Minutes132 KiB2017-07-18Login
SIG application layer2016-02-24Minutes116 KiB2017-07-18Login
SIG application layer2016-02-19Minutes285 KiB2017-07-18Login
SIG application layer2016-01-29Minutes123 KiB2017-07-18Login
SIG application layer2016-01-14Minutes1.0 MiB2017-07-18Login
SIG application layer2017-07-28Minutes2.7 MiB2017-08-03Login
SIG application layer2017-08-18Minutes1.2 MiB2017-08-23Login
TF wake-up handling2017-08-17Minutes434 KiB2017-08-25Login
TF CiA 3092017-08-30Minutes1.8 MiB2017-09-04Login
TF XML2017-09-13Minutes126 KiB2017-09-13Login
SIG application layer2017-09-15Minutes1.9 MiB2017-09-19Login
TF wake-up handling2017-09-20Minutes111 KiB2017-09-27Login
SIG application layer2017-10-10Minutes125 KiB2017-10-12Login
TF CiA 3092017-10-13Minutes2.4 MiB2017-10-19Login
TF LSS2017-10-18Minutes181 KiB2017-10-30Login
TF CiA 3092017-11-16Minutes2.4 MiB2017-11-20Login
TF LSS2017-11-15Minutes4.8 MiB2017-11-20Login
TF wake-up handling2017-12-14Minutes318 KiB2017-12-15Login
TF CiA 3092017-12-18Minutes364 KiB2017-12-18Login
TF LSS2018-01-12Minutes255 KiB2018-01-26Login
TF LSS2018-02-05Minutes307 KiB2018-02-12Login
TF LSS2018-02-23Minutes381 KiB2018-03-05Login
TF LSS2018-05-22Minutes244 KiB2018-05-23Login
TF XML2018-05-28Minutes151 KiB2018-06-04Login
TF EDS2018-06-04Minutes440 KiB2018-06-22Login
TF XML2018-06-15Minutes496 KiB2018-06-22Login
TF LSS2018-06-18Minutes118 KiB2018-06-22Login
TF testing2018-05-25Minutes114 KiB2018-06-22Login
TF testing2018-06-25Minutes130 KiB2018-06-27Login
TF XML2018-06-29Minutes170 KiB2018-07-04Login
TF EDS2018-07-02Minutes141 KiB2018-07-04Login
TF LSS2018-07-26Minutes398 KiB2018-08-02Login
TF XML2018-08-14Minutes132 KiB2018-08-27Login
TF LSS2018-08-24Minutes338 KiB2018-08-28Login
TF XML2018-08-28Minutes2.6 MiB2018-08-30Login
TF testing2018-08-27Minutes138 KiB2018-08-30Login
TF XML2018-10-09Minutes132 KiB2018-10-15Login
TF LSS2018-10-15Minutes5.3 MiB2018-10-16Login
TF CiA 3092019-04-02Minutes125 KiB2019-04-09Login
TF CiA 3092019-04-16Minutes351 KiB2019-04-17Login
TF CiA 3092019-05-22Minutes356 KiB2019-05-23Login
TF CiA 3092019-06-26Minutes141 KiB2019-07-12Login
TF CiA 3092019-08-20Minutes126 KiB2019-09-09Login
TF CiA 3092019-10-07Minutes1.0 MiB2019-10-09Login
TF CiA 3092019-11-04Minutes0.9 MiB2019-11-05Login
SIG application layer TF LSS2020-12-22Minutes131 KiB2020-12-23Login


Title Details
CiA 301 version 4.2.0CANopen application layer and communication profile
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.
PAS3.0 MiB2011-02-21Login
CiA 303-3 version 1.4.0Device and network design - Part 3: CANopen indicators
DescriptionThis recommendation describes the communication-related indicators. Additional application-related indicators are either described in the appropriate device profile or are manufacturer-specific.
TR237 KiB2012-04-27Login
CiA 303-1 version 2.0.1Device and network design - Part 1: CANopen physical layer
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.
TR216 KiB2023-02-27Login
CiA 305 version 3.0.0CANopen layer setting services (LSS) and protocols
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.
DSP1.9 MiB2013-05-08Login
CiA 306-3 version 1.2.0CANopen electronic device description - Part 3: Network variable handling and tool integration
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.
DSP431 KiB2019-08-01Login
CiA 306-1 version 1.4.0CANopen electronic device description - Part 1: Electronic data sheet (EDS) and device configuration file (DCF)
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.
DSP687 KiB2019-08-01Login
CiA 306 version 1.3.0CANopen electronic data sheet (EDS)
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.
PAS359 KiB2005-01-01Login
CiA 306-2 version 1.2.0CANopen electronic device description - Part 2: CANopen profile database (CODB)
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.
DSP759 KiB2019-08-01Login
CiA 308 version 1.0.1CANopen performance measurement basics
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.
TR1.4 MiB2006-01-24Login
CiA 309-3 version 3.0.0CANopen access from other networks - Part 3: ASCII mapping
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.
DS770 KiB2020-04-06Login
CiA 309-1 version 3.0.0CANopen access from other networks - Part 1: General principles and services
DescriptionThis part specifies the mapping to CANopen communication services to access CANopen networks from the other networks.
DS0.9 MiB2020-04-06Login
CiA 309-2 version 1.3.0CANopen access from other networks - Part 2: Modbus TCP/IP mapping
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).
DS1.0 MiB2015-07-30Login
CiA 309-4 version 1.0.0CANopen access from other networks - Part 4: Amendment 7 to Fieldbus Integration into PROFINET IO
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.
DSP657 KiB2011-03-01Login
CiA 311 version 1.1.0CANopen XML schema definition
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.
DSP1.4 MiB2011-08-10Login
CiA 315 version 1.0.0CANopen generic frame for wireless tunneling and for transfer of diagnostic data
DescriptionThis specification specifies the generic frame for the transparent transmission of CAN messages on a wireless network.
DSP626 KiB2011-08-09Login
CiA 318 version 1.0.0CANopen integration into RTC environments
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.
DSP585 KiB2012-02-10Login
CiA 319 version 1.0.1CANopen implementation and configuration specification for safety-related device
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.
DSP139 KiB2022-12-08Login
CiA 801 version 1.1.1CANopen Automatic bit-rate detection
WD290 KiB2018-03-26Login
CiA 801 version 1.0.0CANopen automatic bit-rate detection
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.
TR334 KiB2005-01-01Login
CiA 802 version 1.1.1Avoiding CAN Remote Frames in CANopen networks
DescriptionThis document provides recommendations for avoiding CAN Remote Frames when using CANopen communication services.
TR365 KiB2021-05-10Login
CiA 320 version 1.0.0CANopen services and protocols for sleep and wake-up handling
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.
DSP1.0 MiB2018-03-14Login
CiA 302-1 version 4.1.0CANopen additional application layer functions - Part 1: General definitions
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.
DSP144 KiB2009-02-02Login
CiA 302-2 version 4.1.0CANopen additonal application layer functions - Part 2: Network management
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/).
DSP1.7 MiB2009-02-02Login
CiA 302-3 version 4.1.0CANopen additional application layer functions - Part 3: Configuration and program download
DescriptionThis document defines objects and file formats for the configuration manager and for program download and control.
DSP592 KiB2010-04-08Login
CiA 302-4 version 4.1.0CANopen additional application layer functions - Part 4: Network variables and process image
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".
DSP317 KiB2009-02-02Login
CiA 302-5 version 4.1.0CANopen additional application layer functions - Part 5: SDO manager
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).
DSP578 KiB2009-02-02Login
CiA 302-6 version 4.1.0CANopen additional application layer functions - Part 6: Network redundancy
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.
DSP512 KiB2009-02-02Login
CiA 302-7 version 1.0.0CANopen additional application layer functions - Part 7: Multi-level networking
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.
DSP0.9 MiB2009-02-02Login
CiA 302-8 version 0.0.4CANopen additional application layer functions – Part 8: Project management parameters
WD371 KiB2016-08-11Login
CiA 302-9 version 1.0.0CANopen additional application layer functions - Part 9: Energy saving
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.
DSP293 KiB2014-03-27Login
CiA 310-1 version 1.1.0CANopen conformance test plan – Part 1: CiA 301 testing
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.
DSP1.0 MiB2009-02-04Login
CiA 312-1 version 1.0.0CANopen profile conformance test plans - Part 1: General definitions
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.
DSP134 KiB2008-04-11Login