CiA® 446: CANopen device profile for AS-Interface gateways

The CiA 446 profile defines the CANopen interface for gateways connecting Actuator Sensor Interface (AS-Interface, here ASI) circuits. The gateway implements single or double ASI-master functionality with one or two ASI-circuits controlling up to 62 ASI-slaves each. The actually valid CiA 446 v. 1.0.0 is based on the AS-Interface specification v. 3.0 released in 2004. The latter is also required for interpretation of CiA 446. When implementing the profile, ASI-gateway manufacturers may supply diverse application fields using the same electronic CANopen interface implementation and simply adapting the required functionality. A system designer may choose between ASI-to-CANopen gateway devices from different manufacturers implementing the same profile-compliant functionality. Off-the-shelf CANopen tools may be used for development, analysis, and maintenance purposes.

The profile specifies five classes of single/double ASI-master devices ranging from an M0 ASI single master (controls up to 31 ASI-slaves) to an M4 ASI double master device (controls up to 124 ASI-slaves). Depending on the supported master functionality up to eight TPDOs and RPDOs are pre-defined.

The application objects include digital and analog inputs as well as digital and analog outputs for up to 124 ASI-slaves in two circuits. Each analog input and output has four 16-bit channels presented as four Integer16 values. The specified ASI-master flags inform about the possible signal periphery or power failures, configuration status, automatic addressing functionality, as well as about the modes (e.g. normal, off-line) of the master. The ASI-master control word allows switching the master into a certain mode (on-line, off-line, configuration, protected run-time), storing actual configuration, enabling/disabling automatic addressing, and data exchange. The according ASI-master status word shows weather the required commands were executed correctly. Further, optional lists of active ASI-slaves, detected ASI-slaves, and of peripheral faults are provided. A possibility to write and to read a list of projected ASI-slaves is given. Reading actual ASI-slave configurations (e.g. ID code, I/O configuration) as well as writing and reading the permanent ASI-slave configuration may be done via appropriate objects. Additionally, the information may be acyclically read/written from/to each ASI-slave. The read/write response is then available on the CANopen network via specified objects.

For devices compliant to the profile it is recommended to use connectors and pinning assignment according to CiA 303-1. The physical layer definitions follow those in CiA 301. For node-ID assignment via the CANopen interface (e. g. for IP67-rated devices), it is recommended to use the CANopen layer setting services (see CiA 305). Support of the emergency message and the heartbeat functionality is mandatory.

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.
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.
public563 KiB2017-09-18Login
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).
DSP2.0 MiB2013-05-08Login
CiA 446 version 1.0.0CANopen device profile for AS-Interface gateways
DescriptionThis profile defines the CANopen interface for gateways connecting AS-Interface circuits. One single CANopen logical device supports up to two AS-Interface circuits. The gateway implements AS-Interface master functionality.
DSP477 KiB2006-11-06Login