CiA® 314: CANopen access from IEC 61131-3 programmable devices

This document standardizes access of CANopen services from devices programmable in IEC 61131-3 languages. It defines CANopen-specific function blocks, e.g. to write or to read SDOs (service data objects), to inquire the NMT (network management) state or the CANopen kernel state. Other function blocks are dedicated for transmitting and receiving EMCY information (emergency messages) as well as for creating object dictionary entries. CiA 314 specifies also the CANopen-specific data types used by the function blocks, e.g. the interface-ID and the kernel-ID. The CANopen functions base on the CiA 301 version 4.2.0. The used addressing scheme defines that each CANopen communication stack (kernel) in a system has a unique kernel-ID. A kernel operates on a certain CANopen interface port (interface-ID). A physical CANopen device in the network is addressed via its node-ID. In the system, there exists a mapping table assigning kernels to interfaces. Thus, the kernel-ID implicitly specifies on which physical CANopen interface port the communication is running and the interface-ID is not used for addressing. The benefit of this addressing is that a kernel may be later moved to a different interface port without to change the available application code. The kernel-ID stays the same. This makes the hardware addressing transparent to the user.

In order to implement a standardized access to IEC 61131-3 programmable devices, a standardized access to variables as defined in CiA 302-4 is required. By means of calling function blocks, these variables are read and written. This can be used to exchange data between the IEC 61131 runtime system and the CANopen protocol stack.

The providers of CANopen devices programmable in IEC 61131-3 languages and related Soft-PLCs may implement the specified function blocks to make the application software portable to other platforms. This increases the re-usability of application programs. CANopen devices programmable in IEC 61131-3 languages (e.g. PLCs, HMIs, and PC-based controllers) are used in factory automation, machine control systems, “intelligent” drives as well as displays, and increasingly in mobile machines.

CiA 314 partly substitutes the CiA 405 specification published about 20 years ago. The other parts of CiA 405 have been moved already some years ago to the CiA 302-4 (network variable and process image) and the CiA 306-3 (network variable handling and tool integration) documents. Interested parties are invited to participate in development of the implementation and user guideline for IEC 61131-3 devices.

Title Details
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CiA 1301 version 1.0.0Application layer and communication profile
DescriptionThis document specifies the CANopen FD application layer. This includes the data types, encoding rules and object dictionary data objects as well as the CANopen FD communication services and protocols. In addition, this document specifies the CANopen FD network management services and protocols. This document also specifies the CANopen FD communication profile, e.g. the physical layer, the pre-defined communication object identifier connection set, and the content of the EMCY, TIME, and SYNC communication objects.
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DSP2.2 MiB2017-09-28Login
CiA 302-2 version 4.1.0CANopen additional 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 master, networks with one CANopen device capable of the NMT master mode, and networks with more than one CANopen device capable of the NMT master mode (NMT flying master for higher availability). These definitions are intended to be an add-on to the CANopen application layer and communication profile (see /CiA301/).
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DSP1.5 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.
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DSP331 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-based 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".
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DSP162 KiB2009-02-02Login
CiA 306-1 version 1.3.7CANopen electronic device description - Part 1: Electronic Data Sheet and Device Configuration File
DescriptionThis set of documents specifies the electronic description of CANopen devices in harmonized file formats. These electronic device descriptions are typically required to either configure CANopen device parameters or for testing and diagnostic purposes. This set of documents consists of the three parts. NOTE: The specification of an XML-based CANopen device description is not in the scope of this set of documents. This document specifies the electronic data sheets as well as the device configuration files.
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DSP223 KiB2014-03-18Login
CiA 306-2 version 1.0.4CANopen electronic device description - Part 2: Profile database specification
DescriptionThe 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. NOTE: The specification of an XML-based CANopen device description is not in the scope of this set of documents. This part specifies the CANopen profile database format, which is used by tools (e.g. EDS file checker).
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DSP356 KiB2014-03-24Login
CiA 306-3 version 1.0.0CANopen electronic device description - Part 3: Network variable handling and tool integration
DescriptionThe 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. This part specifies mechanisms with regard to the handling of network variables, which are specified in /CiA302-4/. In addition recommendations for tool integration are provided. NOTE: This document contains parts of the withdrawn document CiA 405.
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DSP153 KiB2014-03-18Login
CiA 306 version 1.3.0CANopen electronic data sheet specification
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.
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public179 KiB2005-01-01Login
CiA 306-1 version 1.3.9CANopen electronic device description Part 1: Electronic Data Sheet and Device Configuration File
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WD424 KiB2017-06-14Login
CiA 306-3 version 1.1.1CANopen electronic device description Part 3: Network variable handling and tool integration
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WD335 KiB2017-06-14Login
CiA 314 version 1.0.0Accessing CANopen services in devices programmable in IEC 61131-3 languages
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. NOTE: This specification substitutes the CiA 405 document those content has been moved to different documents (CiA 302-4 and CiA 306-3).
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DSP363 KiB2015-10-09Login