CiA® 434: CANopen profiles for laboratory automation systems

The CiA 434 set of device profiles specifies a master/slave-based communication between a laboratory automation master (LAM) and several laboratory automation slaves (LAS). Beside the general definitions (part 1), device profiles for dilutor, dispenser, and pump units (part 2) as well as for heating, cooling, and shaking units (part 3) are specified. The scalable LAS device modeling is applicable for small and simple applications as well as for very complex ones. Thus, the device manufacturer may provide the same electronic CANopen interface implementation for diverse laboratory equipment and simply adapt the required application functionality.

The specified finite state automaton (FSA) defines the behavior of the LAS as seen by the LAM. FSA state transitions are based on device internal events (e.g. occurrence of device errors, local inputs) or on the reception of the FSA command from the LAM. The error-free device may be in the idle state, configuration state, interrupted state, or in the command processor active state. In the latter, the directly received or the batched commands are executed. In direct execution mode, the LAM feeds the LAS with single operation commands. The LAS starts the execution of the command immediately after the entire command reception and generates the command result. In batch mode, received operation commands are stored in so-called command buffers. Thus, the LAM is enabled to pre-program work plans within the LAS.

Two classes of operation commands (process- and system commands) are defined. The process commands directly trigger a certain LAS process behavior e.g. dosing a certain volume, shaking with a given frequency, etc. System commands influence the type of command processing and are mainly used in batch mode. The general LAS control objects include the control word and the status word, the operation command result as well as the system command parameter record (e.g. for loop). Further, specific objects for batch mode and direct execution mode are defined. The profile provides a possibility for transmitting command structures via PDOs in a segmented way, which is not recommended.

Part 2 specifies commands as well as parameters relevant for controlling dilutor, dispenser, and pump units. A dilutor aspirates a defined liquid volume in a first step in a syringe and dispenses this liquid in a second step. Among other functions (e.g. dispensing, serial dispensing, diluting or generating a continuous flow), a dilutor unit may control drives (e.g. DC motor, step motor), different types of valves or different types of syringes. A dosing pump relies on a variable capacity vessel, such as a syringe, to aspirate and deliver precisely controlled volumes of liquids. The defined process commands distinguish between general commands and function-block-specific commands e.g. for dosing, valve, flow table, and pressure table. Further, it is defined how the supported function blocks are represented and how the field values given in increments are conversed to SI-unit-related process values. The values with appropriate SI units (coded as specified in CiA 303-2) for current flow, accumulated volume, and current pressure along with the remaining processing time follow. At the end of this specification part, the detailed parameter sets for each function block are defined.

Illustration of HCS unit

Part 3 specifies the heating, cooling, or shaking (HCS) unit. The general commands comprise the total initialize and the software initialize command, the stop process command, as well as the move lifter command. The parameter sets for the temperature function block provide the standby temperature, the heating and cooling ramp, two target temperatures as well as the temperature cycles with additional ramps. The parameter sets for the shaking function block provide the shaking frequency acceleration and deceleration ramps, two target shaking frequencies as well as the shaking cycles with additional ramps.

Profile-compliant devices support a bit-rate of 500 kbit/s (and optionally others) as well as one of the two defined connectors (see also CiA 303-1). The CANopen NMT master functionality resides at the laboratory automation master. The other devices provide CANopen NMT slave functionality. Emergency messages and heartbeat functionality (see CiA 301) are supported.

Title Details
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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 303-1 version 1.9.0Recommendation - Part 1: Cabling and connector pin assignment
DescriptionThis document provides device and network design recommendations for CANopen physical layer. Additionally, it provides the guidelines for selecting cables and connectors for use in CANopen systems.
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public563 KiB2017-09-18Login
CiA 303-2 version 1.5.0Recommendation - Part 2: Representation of SI units and prefixes
DescriptionThis document provides recommendation on how to represent the international system of units and prefixes in CANopen device, interface and application profiles.
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public120 KiB2012-04-27Login
CiA 434-1 version 2.0.0CANopen profiles for laboratory automation systems – Part 1: General definitions
DescriptionThis set of device profiles for laboratory automation systems describes a master/slave-based communication between a laboratory automation master and several laboratory automation slaves (units). In addition to the general system structure, this part of CiA 434 defines a finite state machine (FSA) that is supported by all laboratory units, following the specification CiA 434. In addition, this part specifies two predefined control structures for laboratory units. On the one hand, the laboratory automation master can control the laboratory units via single operating commands. On the other hand this part provides a generic structure for a “preconfigurable work plan” that enables a quasi-autonomous laboratory unit operation, which is monitored by the laboratory master. The set of CANopen profiles for laboratory automation systems includes several parts: Part 1 describes general definitions. Part 2 defines the device profile for dilutor/dispenser/pump units. Part 3 defines the heating, cooling and shaking unit. Part 4 defines the device profile for pipette control units. Part 5 defines the device profile for multi axis control units. Part 6 defines the device profile for drive units. Part 7 defines the device profile for washing units. Part 8 defines the device profile for centrifuge units. Part 9 defines the device profile for stacker units. Part 10 defines the device profile for detection units. Devices compliant to these profiles use communication techniques, which conform to those defined in the CANopen application layer and communication profile (CiA 301). In addition, they may use communication techniques, which conform to those described in the set of specifications for additional application layer functions (CiA 302). These specifications should be consulted in parallel to these device profile specifications.
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DSP579 KiB2009-04-22Login
CiA 434-2 version 1.0.0CANopen profiles for laboratory automation systems – Part 2: CANopen device profile for dilutor, dispenser and pump units
DescriptionThis part of the CANopen profiles for laboratory automation systems defines the CANopen interface for dilutor, dispenser and pump units. Based on the definitions given in CiA 434-1, this CANopen device profile specifies commands as well as parameters relevant for controlling dilutor, dispenser and pump units that are part of an automated laboratory system.
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DSP574 KiB2010-06-30Login
CiA 434-3 version 1.0.0CANopen profiles for laboratory automation systems – Part 3: CANopen device profile for heating, cooling and shaking units
DescriptionThis part of the CANopen device profiles for laboratory automation systems specifies the heating, cooling and shaking unit.
Keywordsn/a
DSP425 KiB2010-06-30Login