CiA® 320 CANopen services and protocols for sleep and wake-up handling

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The CiA 320 document specifies services and protocols for sleep and wake-up handling for CANopen devices. CANopen devices, which support low-power modes, can be set to a mode of reduced energy consumption by means of the CiA 320 services and protocols. The specification complies also with CAN transceiver chips providing low-power mode and selective wake-up functionality as standardized in the ISO 11898 series.

Battery-powered CANopen devices, for example in Pedelecs (CiA 454) or in special-purpose cars (CiA 447), need such sleep and wake-up functionality, in order to reduce power consumption during longer standstills. The same applies for battery-powered service robots and automated-guided vehicles with embedded CANopen networks.

The services enable the power management master (PM master), which is residing at the active CANopen NMT master, to control the local Sleep finite state automaton (FSA) and the remote Sleep FSA of all power management devices (PM devices) in the network. The PM master uses CAN data frames with the CAN-ID 691h to send commands to PM devices. PM devices use CAN data frames with the CAN-ID 690h as well as the EMCY write protocol as specified in CiA 301 to transmit requests to the PM master. The additional emergency error codes (EEC) for the sleep and wake-up handling are described in CiA 320. The additional EEC and the data object 117Fh provide the information about the reason for CANopen devices e.g. to stay awake, to request sleep, to wake-up, etc.

Furthermore, the CiA 320 services allow an automatic transition to Sleep state of a PM device, in case there are no live-signs of the PM master.

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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.
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public3.4 MiB2011-02-21Login
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 slave capability by a CANopen device with LSS master capability via the CAN network. The following parameters may be inquired or changed: Node-ID of the CANopen device, bit timing parameters of the physical layer (bit rate), LSS address compliant to the identity object (1018h).
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DSP2.0 MiB2013-05-08Login
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.
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DSP597 KiB2018-03-14Login
CiA 447-1 version 2.1.0CANopen application profile for special-purpose car add-on devices – Part 1: General definitions
DescriptionThis CANopen application profile specifies the CAN physical layer as well as application, configuration and diagnostic parameters for the add-on devices used in special-purpose passenger cars such as taximeter, roof bar, etc. The specification comprises the following parts: Part 1: General definitions, Part 2: Virtual device definition, Part 3: Detailed process data specification, Part 4: Pre-defined CAN-IDs and communication objects. This part defines the physical layer, the general system architecture, and some common communication parameter objects.
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DSP0.9 MiB2015-12-14Login
CiA 447-2 version 2.1.0CANopen application profile for special-purpose car add-on devices – Part 2: Virtual device definition
DescriptionThis CANopen application profile specifies the CAN physical layer as well as application, configuration and diagnostic parameters for the add-on devices used in special-purpose passenger cars such as taximeter, roof bar, etc. The specification comprises the following parts: Part 1: General definitions. Part 2: Virtual device definition. Part 3: Detailed process data specification. Part 4: Pre-defined CAN-IDs and communication objects. This part defines the virtual devices. It also defines, which process data and parameters are used by the virtual devices.
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DSP179 KiB2015-12-14Login
CiA 447-3 version 2.1.0CANopen application profile for special-purpose car add-on devices – Part 3: Detailed process data specification
DescriptionThis CANopen application profile specifies the CAN physical layer as well as application, configuration and diagnostic parameters for the add-on devices used in special-purpose passenger cars such as taximeter, roof bar, etc. The specification comprises the following parts: Part 1: General definitions. Part 2: Virtual device definition. Part 3: Detailed process data specification. Part 4: Pre-defined CAN-IDs and communication objects. This part specifies in detail the process data and parameters of the virtual devices.
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DSP1.6 MiB2015-12-14Login
CiA 447-4 version 2.1.0CANopen application profile for special-purpose car add-on devices – Part 4: Pre-defined CAN-IDs and communication objects
DescriptionThis CANopen application profile specifies the CAN physical layer as well as application, configuration and diagnostic parameters for the add-on devices used in special-purpose passenger cars such as taximeter, roof bar, etc. The specification comprises the following parts: Part 1: General definitions. Part 2: Virtual device definition. Part 3: Detailed process data specification. Part 4: Pre-defined CAN-IDs and communication objects. This part specifies the pre-defined CAN-IDs and communication objects.
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DSP234 KiB2015-12-14Login
CiA 447-2 version 2.1.2CANopen application profile for special-purpose car add-on devices - Part 2: Virtual device definition
Descriptionn/a
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WD371 KiB2018-07-18Login
CiA 447-3 version 2.1.2CANopen application profile for special-purpose car add-on devices - Part 3: Detailed process data specification
Descriptionn/a
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WD4.1 MiB2018-07-18Login
CiA 454-1 version 2.0.0CANopen application profile for energy management systems – Part 1: General definitions
DescriptionThe CANopen application profile for EMSs specifies the communication interface for all virtual devices that may take part in energy management control application. Such energy management control applications may be implemented in e.g. light electric vehicles, robots, offshore parks, isolated farms, etc. The CANopen application profile for EMSs consists of the following parts: Part 1: General definitions, Part 2: Pre-defined communication parameters and general application objects, Part 3: Pre-defined PDO communication, Part 4: EMS controller, Part 5: Voltage converter unit, Part 6: Battery pack, Part 7: Motor control unit (under development), Part 8: Load monitoring unit (under development), Part 9: HMI unit (under development), Part 10: Security unit (under development), Part 11: Sensor unit (under development), Part 12: Gateway unit (under development), Part 13: Generator unit, Part 14: Load unit. This document represents the part 1 of the CANopen application profile for EMSs. Part 1 provides the general concept of the EMS.
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DSP1.2 MiB2014-06-17Login
CiA 454-2 version 2.0.0CANopen application profile for energy management systems – Part 2: Pre-defined communication parameters and general application objects
DescriptionThis document represents the part 2 of the CANopen application profile for EMSs. Part 2 provides additional specifications with regard to the pre-defined communication objects as well as the general communication objects.
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DSP817 KiB2014-06-17Login
CiA 454-3 version 2.0.0CANopen application profile for energy management systems – Part 3: PDO communication
DescriptionThis document represents the part 3 of the CANopen application profile for EMSs. Part 3 provides the PDO communication and mapping parameters.
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DSP533 KiB2014-06-17Login
CiA 454-4 version 2.0.0CANopen application profile for energy management systems – Part 4: EnergyBus controller (EBC)
DescriptionThis document represents the part 3 of the CANopen application profile for EMSs. Part 3 specifies the application objects provided by the virtual device Energy management system controller (EBC).
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DSP176 KiB2014-06-17Login
CiA 454-5 version 2.0.0CANopen application profile for energy management systems – Part 5: Voltage converter
DescriptionThis document represents the part 5 of the CANopen application profile for EMSs. Part 5 provides application objects provided by the AC-DC converter. The AC-DC converter may be implemented to realize a battery charger or a charger station.
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DSP859 KiB2014-06-17Login
CiA 454-6 version 2.0.0CANopen application profile for energy management systems – Part 6: Battery pack
DescriptionThis document represents the part 6 of the CANopen application profile for EMSs. Part 6 of the document specifies application objects provided by the battery pack.
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DSP518 KiB2014-06-17Login
CiA 454-13 version 1.0.0CANopen application profile for energy management systems – Part 13: - Generator unit
DescriptionThis document represents the part 13 of the CANopen application profile for EMSs. Part 13 of the document specifies generator units such as a diesel engine, photovoltaic generator, winds turbine, etc. Generators shall be divided into two classes: Controllable and stochastic generator.
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DSP383 KiB2014-06-17Login
CiA 454-14 version 1.0.0CANopen application profile for energy management systems – Part 14 - Load unit
DescriptionThis document represents the part 14 of the CANopen application profile for EMSs. Part 14 of the document specifies load units such as lighting, electrical motor, radio, refrigerator, washing machine, etc. Loads shall be divided into three classes: controllable loads, influenceable loads and non-controllable loads.
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DSP330 KiB2014-06-17Login