CiA® 309 series: Accessing CANopen via TCP

As early as 2004, CiA released the CiA 309 series of interface specification for TCP-to-CANopen gateways. Part 1 describes the general principles and specifies the communication services. Besides some editorial improvements and corrections, version 2.0 provides a new section explaining CiA 309 operating sequences. It provides entire protocols, exchanged between a TCP device and a CANopen device, whereby the communication link is established via the CiA 309 gateway device.

The CiA 309 series of interface profiles supports CANopen remote access via TCP-based networks

By means of the CiA 309 protocols as described in part 2 to part 4, the user can access every device in the connected CANopen network from a remote controller. This TCP-connection is mainly used for remote configuration and remote diagnostic purposes. Real-time communication is done locally.

Part 2 released as version 1.3 specifies ModbusTCP messages. In the last review, a Modbus extended exception has been introduced. Part 3 specifies the ASCII-based protocol for generic access from an Ethernet-TCP-based node to a sub-layered CANopen network.

There are a couple of CiA 309 gateways on the market. Most of them use the ASCII-based protocols on the TCP-side. There are also software packages available providing the necessary protocol stacks for both interfaces as well as gateway programs. They support ModbusTCP as well as ASCII protocols. In subsea applications, CiA 309 gateways are embedded in the so-called “tree”-controllers (described in CiA 443), which links sensor networks on the ocean ground to topside controllers via TCP-based networks.

The CiA 309-4 document specifies remote access via ProfinetIO. CiA and Profibus International members have developed this specification together. Both associations released it in 2011.

Title Details
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CiA 309-4 version 1.0.0CANopen integration in PROFINET IO - 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.
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DSP1.1 MiB2011-03-01Login
CiA 309-1 version 2.0.0CANopen access from other networks - Part 1: General principles and services
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 1 specifies the network access services provided by a CiA 309 gateway device that give one CiA 309 network device (e.g. PLC or PC application) connected through TCP/IP or other protocols (based on Ethernet, remote access services, or serial links) access to devices attached to CANopen networks. The description of the transport protocol between the CiA 309 gateway device and the CiA 309 network devices using the services specified in this document is not in the scope of this specification part.
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public369 KiB2015-07-30Login
CiA 309-2 version 1.1.0CANopen access from other networks - Part 2: Modbus/TCP mapping
DescriptionThis specification specifies the services and protocols to interface CANopen networks to a TCP/IP- based network. This set of specifications is organized as follows: Part 1: General principles and services, Part 2: Modbus/TCP mapping, Part 3: ASCII mapping. This part of the specification defines the mapping of services defined in /CiA 309-1/ on Mod- bus/TCP. It is intended to access CANopen devices via a gateway device from a remotely Mod- bus/TCP connected device (e.g. PLC or tool).
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public0.9 MiB2006-12-12Login
CiA 309-2 version 1.3.0CANopen access from other networks - Part 2: Modbus/TCP 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).
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DS1.1 MiB2015-07-30Login
CiA 309-3 version 1.1.0CANopen access from other networks - Part 3: Mapping
DescriptionThis specification specifies the services and protocols to interface CANopen networks to a TCP/IP- based network. This set of specifications is organized as follows: Part 1: General principles and services, Part 2: Modbus/TCP mapping, Part 3: ASCII mapping. This part of the specification defines the ASCII-based communication syntax for CANopen gateway devices. The aim is to provide a lightweight counterpart to solutions with CORBA or OPC.
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public107 KiB2006-12-12Login
CiA 309-3 version 2.1.0CANopen access from other networks - Part 3: ASCII 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 3 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.
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DS482 KiB2015-07-30Login
CiA 309-1 version 2.0.1CANopen access from other networks Part 1: General principles and services
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WD424 KiB2017-01-09Login
CiA 309-5 version 0.0.7CANopen access from other networks Part 5: HTTP request mapping
Descriptionn/a
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WD1.4 MiB2017-09-15Login
CiA 309-3 version 2.1.6CANopen Access from other networks – Part 3: ASCII mapping
Descriptionn/a
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WD682 KiB2017-10-11Login