Title Details
Published
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Status
Action
CiA 901-1 version 0.0.0 CAN-based network modeling Part 1: Service access point definitions of data link layers and physical layers
Scope

2022-08-28 232 KB WD Login
CiA 312-6 version 0.0.1 CANopen device profile conformance test plan - Part 6: SIIS level-2 devices
Scope

2010-05-10 719 KB WDP Login
CiA 801 version 1.1.1 CANopen Automatic bit-rate detection
Scope

2024-01-12 290 KB WD Login
CiA 312-5 version0.0.4 CANopen device profile conformance test plan - Part 5: Special purpose car add-on device
Scope

2016-06-06 2 MB WD Login
CiA 312-4 version 1.0.1 CANopen profile conformance test plan – Part 4: Contrast media injectors
Scope

2012-05-20 2 MB WD Login
CiA 150, CiA 205-1 CiA 205-2 version 1.1.0 CAL power management layer
Scope

This document specifies facilities and services of a Power Management Layer protocol entity on the CAN bus allowing significant reduction of power consumption in CAN networks by the introduction of the so-called network standby capability. The power reduction facilities of current CAN controller hardware designs by using the sleep mode, which can be recognized as a de-facto standard; are supported for usage under all higher layer protocols during an internal Power Management Layer IDLE state.

1997-05-01 336 KB PAS Login
CiA 201 to CiA 207 version 1.1.0 CAN Application Layer (CAL) for industrial applications
Scope

This document contains a description of the CAN Reference Model. This document is part of a set of documents that standardize the CAN Application Layer for Industrial Applications.

1996-02-01 3 MB PAS Login
CiA 301 version 4.2.0 CANopen application layer and communication profile
Scope

This 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 pre- defined communication object identifier connection set, and the content of the Emergency, Time- stamp, and Sync communication objects.

2011-02-21 3 MB PAS Login
CiA 302-3 version 4.1.0 CANopen additional application layer functions - Part 3: Configuration and program download
Scope

This document defines objects and file formats for the configuration manager and for program download and control.

2010-04-08 592 KB DSP Login
CiA 302-4 version 4.1.0 CANopen additional application layer functions - Part 4: Network variables and process image
Scope

In 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".

2009-02-02 317 KB DSP Login
CiA 302-5 version 4.1.0 CANopen additional application layer functions - Part 5: SDO manager
Scope

CANopen offers a communication mechanism between CANopen devices via SDO. These communication channels are always established between two CANopen devices. For accessing a CANopen device the first time at least one SDO channel per CANopen device is required. This is called the default SDO channel. Only the SDO manager is allowed to use that SDO channel. Simple networks may use SDO channels that are pre-configured between a pair of CANopen devices. This allows direct communication between CANopen devices without the need of a SDO manager. This document defines mechanisms that may be used for plug-n-play networks, without the requirement of a pre-configuration of the network. These mechanisms may be used to establish dynamic SDO connections between CANopen devices. These mechanisms require a specific CANopen device in the network that is able to handle the dynamic request; this CANopen device is called SDO manager. These mechanisms require CANopen devices that are able to perform a dynamic request; these CANopen devices are called SDO Requesting Device (SRD).

2009-02-02 578 KB DSP Login
CiA 302-7 version 1.0.0 CANopen additional application layer functions - Part 7: Multi-level networking
Scope

This specification describes the interface for bi-directional CANopen-to-CANopen communication in multi-level networks. It supports multiple CANopen networks implementing hierarchical and non-hierarchical architectures.

2009-02-02 907 KB DSP Login
CiA 302-9 version 1.0.0 CANopen additional application layer functions - Part 9: Energy saving
Scope

This series of specifications defines additional CANopen services and functionalities, especially related to dedicated application requirements. It comprises the following parts: • Part 1: General definitions; • Part 2: Network management; • Part 3: Configuration and program download; • Part 4: Network variables and process image; • Part 5: SDO manager; • Part 6: Network redundancy; • Part 7: Multi-level networking; • Part 8: Project management parameters; • Part 9: Energy saving. This part of the additional application layer function documents specifies the energy saving modes and the related communication parameters for energy saving.

2014-03-27 293 KB DSP Login
CiA 303-3 version 1.4.0 Device and network design- Part 3: CANopen indicators
Scope

This recommendation describes the communication-related indicators. Additional application- related indicators are either described in the appropriate device profile or are manufacturer-specific.

2012-04-27 237 KB TR Login
CiA 305 version 3.0.0 CANopen layer setting services (LSS) and protocols
Scope

This 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)

2013-05-08 2 MB DSP Login
CiA 306 version 1.3.0 CANopen electronic data sheet (EDS)
Scope

The 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

2005-01-01 359 KB PAS Login
CiA 306-2 version 1.2.0 CANopen electronic device description - Part 2: CANopen profile database (CODB)
Scope

This 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: ⎯ Part 1: Electronic Data Sheet and Device Configuration File; ⎯ Part 2: Profile database; ⎯ Part 3: Network variable handling and tool integration. This part specifies the CANopen profile database format, which is used by tools (e.g. EDS file checker). The specification of an XML-based CANopen device description is not in the scope of this set of documents.

2019-08-01 759 KB DSP Login
CiA 306-3 version 1.2.0 CANopen electronic device description - Part 3: Network variable handling and tool integration
Scope

This 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: ⎯ Part 1: Electronic data sheet and device configuration file; ⎯ Part 2: Profile database; ⎯ Part 3: Network variable handling and tool integration. This part specifies mechanisms with regard to the handling of network variables, which are specified in CiA 302-4. In addition recommendations for tool integration are provided. NOTE This document contains parts of the withdrawn document CiA 405.

2019-08-01 431 KB DSP Login
CiA 306-1 version 1.4.0 CANopen electronic device description - Part 1: Electronic data sheet (EDS) and device configuration file (DCF)
Scope

This set of documents specifies the electronic description of CANopen devices in harmonized file formats such as electronic data sheet and device configuration file, which are used to configure CANopen device parameters as well as for testing and diagnostic pu rposes. This set of documents consists of the three parts: ⎯ Part 1: Electronic data sheet and device configuration file; ⎯ Part 2: Profile database; ⎯ Part 3: Network variable handling and tool integration. This part of the document specifies the electronic dat a sheets as well as the device configuration files. Additionally, it specifies CANopen Safety device entries for EDS and DCF in the Annex A, the relationship between object attributes and EDS (DCF) keynames in the Annex B, and EDS examples in the Annex C. The specification of an XML-based CANopen device description is not in the scope of this set of documents.

2019-08-01 687 KB DSP Login
CiA 308 version 1.0.1 CANopen performance measurement basics
Scope

CANopen is a field-bus protocol used in many diverse application: CANopen networks can be found not only in various industrial applications ranging from printing machines and robots to process controls, but also in ships, building automation, trains, trucks and even in coffee machines. CANopen is used for high accuracy drive synchronisation and for flight data recording. It is also in use in medical applications and has been chosen as the standard communication protocol for passenger information systems in public transport. This variety of applications leads to totally different requirements in regard to CANopen performance. The critical real-time requirement of one application may be a short response time to synchronisation messages relating to a single process data object, where as a different application may expect a node with many event driven process data obj ects to send these objects immediately after a certain input signal has changed. With drive synchronisation for instance, some applications need long time accuracy of the sync cycle and tolerate almost any jitter of a single sync message, and others require minimal jitter and tolerate long term drift. Regarding most other bus systems it is fairly straightforward to measure and publish communication performance figures for most node types. With CANopen this is not the case: the capability of CANopen to tailor the communication to the application needs makes it very difficult to determine valuable performance figures that are independent of the specific network set-up. For example, figures relating to reaction times not only depend on the processor used, but on the actual bus load, on the type of CAN controller being used, on the actual number and types of I/Os or drives connected, on the number and transmission types of the process data objects, on the guard or heartbeat cycle, and on many other settings and parameters in the object dictionary. Developing a CANopen node always involves a certain trade-off between performance and functionality. Therefore performance is a multi - dimensional value. The goal of this performance specification is to name and define a set of CANopen communication performance figures that may be used to compare devices and implementations within a specific application environment. It is not the aim of this paper to define a standard performance-measuring environment, as this would lead to implementations that perform fine in exactly this environment but disappoint under most other conditions. However, in order to establish some comparable conditions, this specification defines a number of standard busloads that may be used to simulate or enhance application environments. This performance test specification is aimed both at CANopen device developers and at CANopen system integrators. It may help developers determine relative performance figures regarding two implementation variants, thus leading to better devices and it may help system integrators to ask the right questions, thus leading to better CANopen networks.

2006-01-24 1 MB TR Login
CiA 309-4 version 1.0.0 CANopen access from other networks- Part 4: Amendment 7 to Fieldbus Integration into PROFINET IO
Scope

This 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.

2011-03-01 657 KB DSP Login
CiA 310-1 version 1.1.0 CANopen conformance test plan - Part 1: CiA 301 testing
Scope

Conformance testing is the process of verifying that an implementation performs in accordance with a particular standard, specification or environment. A CiA 310 conforming implementation is one that satisfies both static and dynamic conformance requirements. Conformance testing is not intended to be exhaustive, but it does ensure with a reasonable degree of confidence that implementation is consistent with its specification and it increases probability that implementations will interoperate. The test specification includes a lower test comprising the test description and specification for CANopen devices with NMT slave functionality compliant to the CANopen application layer and communication profile. The test specification of dynamic and upper tests does not fall in the scope of this document as well as the definition of additional tests for checking conformance of a CANopen device to a certain CANopen device profile.

2009-02-04 980 KB DSP Login
CiA 311 version 1.1.0 CANopen XML schema definition
Scope

This specification defines the elements and rules for describing device profiles and communication network profiles for devices used in CANopen-based control systems. The content of this specification complies with the definitions and provisions of ISO 15745 - 1:2005/Amd1. NOTE Part 1 of ISO 15745 specifies generic elements and rules for describing integration models and application interoperability profiles, together with their component profiles. The formal description is based on XML technology.

2011-08-10 1 MB DSP Login
CiA 312-1 version 1.0.0 CANopen profile conformance test plans - Part 1: General definitions
Scope

The document contains additional lower-, dynamic- and upper tests for CANopen devices that shall be tested according to a certain device profile. The definitions of the generic lower -, dynamic- and upper tests do not fall in the scope of this document.

2008-04-11 134 KB DSP Login
CiA 312-2 version 1.0.0 CANopen profile conformance test plans - Part 2: Generic I/O modules
Scope

This part of CANopen device profile conformance test plan contains additional tests for generic I/O modules, which are tested for conformity according to CANopen device profile generic I/O modules. The additional tests verify entries in EDS and object dictionary, which are defined in CANopen device profile generic I/O modules. Furthermore additional test steps verify object coherences that are defined in that device profile. To achieve a certain level of conformity the CANopen device shall pass the corresponding tests defined in CANopen conformance test plan plus those defined in this part of the document series.

2008-04-11 1,000 KB DSP Login
CiA 312-4 version 1.0.0 CANopen profile conformance test plans - Part 4: Contrast media injectors
Scope

This part of the test plan specifies the additional tests for contrast media injectors, which shall be tested for conformity according to CANopen application profile for medical diagnostic add-on modules (CiA 425-1 version 2.0. and CiA 425-2 version 2.0.2). The additional tests verify entries in EDS and object dictionary, which are defined in CANopen application profile for medical diagnostic add-on modules. Furthermore additional test steps verify the implementation of the device finite state automata and further object coherences, which are defined in application profile for medical diagnostic add-on modules. To achieve a certain level of conformity the DUT shall pass the corresponding tests defined in CANopen conformance test plan, CiA 312-1, plus those defined in this test plan.

2009-01-16 2 MB DSP Login
CiA 315 version 1.0.0 CANopen generic frame for wireless tunneling and for transfer of diagnostic data
Scope

This specification specifies the generic frame for the transparent transmission of CAN messages on a wireless network.

2011-08-09 626 KB DSP Login
CiA 318 version 1.0.0 CANopen integration into RTC environments
Scope

This document specifies the mapping of the Robotic technology component (RTC) finite state automaton to the CANopen network management (NMT) finite state automaton as well as the mapping of the RTC data types to CANopen data types. In addition, it describes the RTC - CANopen manager and the ProxyRTCs system integration.

2012-02-10 585 KB DSP Login
CiA 320 version 1.0.0 CANopen services and protocols for sleep and wake-up handling
Scope

This 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.

2018-03-14 998 KB DSP Login
CiA 402-4 version 1.0.0 CANopen device profile for drives and motion control - Part 4: Safety functionality
Scope

This series of profile specifies the CANopen interface of power drive systems. It is suitable for drive and motion controllers. It specifies several operating modes for frequency inverters, servo-controllers, and stepper motors. The series of profile is split in several parts: • Part 1: General definitions; • (Part 2: Operation modes and application data); • (Part 3: PDO mapping); • Part 4: Safety functionality; • Part 5: PDO mapping superset. Part 2 and part 3 are substituted by the international standards IEC 61800-7-201 respectively IEC 61800-7-301. This part specifies the safety functionality for electrical drives and motion controllers compliant with the CiA 402 profile. It specifies the safety-related process data, the safety-related configuration parameters, and the safety-related diagnostic information as well as the SRDO communication and mapping parameters. Safety devices compliant with this part consume SRDOs containing commands from a control device and produce SRDOs containing status information to be received by the control device. Safety devices compliant with this document provide typically local safety functions as well as safety inputs and outputs. The safety outputs can be used to assign safety status information or can be set by the command information of the safety logic. The document is based on the ETG.6100.2 Generic Safety Drive Profile by the Ethercat Technology Group (ETG), and it specifies the mapping to CANopen. NOTE The naming and the assigned indices and sub-indices of the parameters are far as possible the same as in the ETG documents. But some ETG parameters are represented in CANopen by two parameters, consequently two names are used.

2015-12-02 3 MB DSP Login
CiA 402-5 version 1.0.0 CANopen device profile for drives and motion control - Part 5: PDO mapping superset
Scope

This series of profile specifies the CANopen interface of power drive systems. It is suitable for drive and motion controllers. It specifies several operating modes for frequency inverters, servo-controllers, and stepper motors. The series of profile is split in several parts: • Part 1: General definitions; • (Part 2: Operation modes and application data); • (Part 3: PDO mapping); • Part 4: Safety functionality; • Part 5: PDO mapping superset. Part 2 and part 3 are substituted by the international standards IEC 61800-7-201 respectively IEC 61800-7-301. This part specifies the set of PDOs for CiA 402 compliant CANopen devices, which can control asynchronous and synchronous motors.

2014-01-31 395 KB DSP Login
CiA 404 version 1.2.0 CANopen profile for measuring devices and closed-loop controllers
Scope

TThis document represents the device profile for measuring devices and for universal controller devices for measuring or controlling physical quantities like temperature or pressure. These devices use communication techniques which are conform to those described in /2/. This document should be consulted in parallel to this profile.

2002-05-15 2 MB PAS Login
CiA 404-1 version 2.1.0 CANopen profile for measuring devices and closed-loop controllers - Part 1: Generic objects and generic PDO mapping
Scope

This document specifies the device profile for measuring devices and for universal controller devices for measuring or controlling of physical quantities such as temperature or pressure. The CANopen device profile for measuring devices and closed-loop controllers consists of two parts: • Part 1 defines the generic objects and the generic PDO mapping; • Part 2 defines the EUROMAP specific parameters. This part specifies the parameter for the digital input and output blocks resp. the analog input and output blocks. Additionally, it specifies the alarm and control as well as the device function block.

2016-07-19 3 MB DSP Login
CiA 404-2 version 2.0.0 CANopen profile for measuring devices and closed-loop controllers - Part 2: EUROMAP implementation
Scope

This specification represents the device profile for measuring devices and for universal controller devices for measuring or controlling physical quantities like temperature or pressure. These devices use communication techniques which are conform to those described in /CiA301/. The CANopen device profile for measuring devices and closed-loop controllers consists of several parts: • Part 1 defines the generic objects and the generic PDO mapping; • Part 2 defines the EUROMAP specific parameters. This part specifies the additional objects needed for EUROMAP 75 measuring amplifiers parameters and EUROMAP 66 heating/cooling device parameters.

2013-08-01 441 KB DSP Login
CiA 412-1 version 1.0.0 CANopen profiles for medical devices - Part 1: General definitions
Scope

The CANopen profiles for medical devices includes several parts: • Part 1 describes general definitions; • Part 2 defines the profile for automatic X-ray collimators; • Part 3 defines the profile for X-ray generators; • Part 4 defines the profile for patient tables; • Part 5 defines the profile for X-ray stands. Devices compliant to these profiles use communication techniques, which conforms to those described in the CANopen communication profile (CiA Draft Standard DS-301, /2/). In addition, medical devices and sub-systems may use communication techniques, which conform to those described in the framework for programmable CANopen Devices (CiA Draft Standard Proposal DSP-302). These specifications should be consulted in parallel to these device profile specifications.

2005-12-31 167 KB PAS Login
CiA 412-2 version 1.0.0 CANopen profiles for medical devices - Part 2: Automatic x-ray collimator
Scope

This document represents the CANopen device profile for generic X-ray collimators, and as such describes the generic subset of collimator functionality. A prerequisite for the conformity to this CANopen device profile is conformity with the CANopen communication profile (CiA Draft Standard DS 301). Additionally, in the case that the module is programmable it must conform to the Framework for programmable CANopen devices (CiA Draft Standard Proposal DSP 302). These specifications should be consulted in parallel to this device profile specification.

2005-12-31 1 MB PAS Login
CiA 412-6 version 1.1.0 CANopen profiles for medical devices - Part 6: Dose measurement system
Scope

This specification defines the CANopen device profile for dose measurement systems. A prerequisite for the conformity to this CANopen device profile is conformity with the CANopen communication profile. Additionally, in the case that the module is programmable conformance to the framework for programmable CANopen devices is required. It is recommended to consulted these specifications in parallel to this device profile specification.

2008-08-27 2 MB PAS Login
CiA 413-1 version 3.0.0 CANopen interface profile for truck gateways - Part 1: General definitions
Scope

This set of profile specifications describes CANopen gateways to CAN-based in-vehicle networks using the SAE J1939-71 application profile, ISO 11992-2, -3, and -4 truck/trailer networks or other J1939-based networks, e.g. ISO 11783-based (ISOBUS) networks, NMEA2000 networks, or RV-CAN network systems. The CANopen device profile for truck gateways consists of several parts: • Part 1 describes general definitions; • Part 2 defines the application objects for braking and running gear; • Part 3 defines the application objects for equipment other than brakes and running gear; • Part 5 defines the application objects for superstructures; • Part 6 defines the interface profile for J1939-to-CANopen gateways; • Part 8 defines the framework for HMI control. This part specifies the physical layer including connectors, and some general communication parameters. There are no PDOs pre-defined

2011-11-24 335 KB DSP Login
CiA 413-2 version 3.0.0 CANopen interface profile for truck gateways - Part 2: Brake and running gear devices
Scope

This set of profile specifications describes CANopen gateways to CAN-based in-vehicle networks using the SAE J1939-71 application profile, ISO 11992-2, -3, and -4 truck/trailer networks or other J1939-based networks, e.g. ISO 11783-based (ISOBUS) networks, or NMEA2000 networks, or RV-CAN network systems. The CANopen device profile for truck gateways consists of several parts: • Part 1 describes general definitions; • Part 2 defines the application objects for braking and running gear; • Part 3 defines the application objects for equipment other than brakes and running gear; • Part 5 defines the application objects for superstructures; • Part 6 defines the interface profile for J1939-to-CANopen gateways; • Part 8 defines the framework for HMI control. This part specifies the application objects for brake and running gear equipment. These objects are equivalent to signals and parameters in /ISO11992-2/. This allows a directly forwarding of messages received from the in-vehicle network and a directly forwarding of CANopen application objects to the in-vehicle network.

2011-11-24 2 MB DSP Login
CiA 413-3 version 3.0.0 CANopen interface profile for truck gateways - Part 3: Other than brake and running gear devices
Scope

This set of profile specifications describes CANopen gateways to CAN-based in-vehicle networks using the SAE J1939-71 application profile, ISO 11992-2, -3, and -4 truck/trailer networks or other J1939-based networks, e.g. ISO 11783-based (ISOBUS) networks, or NMEA2000 networks, or RV-CAN network systems.The CANopen device profile for truck gateways consists of several parts: • Part 1 describes general definitions; • Part 2 defines the application objects for braking and running gear; • Part 3 defines the application objects for equipment other than brakes and running gear; • Part 5 defines the application objects for superstructures; • Part 6 defines the interface profile for J1939-to-CANopen gateways; • Part 8 defines the framework for HMI control. This part specifies the application objects for other than brake and running gear equipment. These objects are equivalent to signals and parameters in /ISO11992-3/. This allows a directly forwarding of messages received from the in-vehicle network and a directly forwarding of CANopen application objects to the in-vehicle network

2011-11-24 3 MB DSP Login
CiA 413-5 version 1.0.0 CANopen interface profile for truck gateways - Part 5: Application data objects for superstructure
Scope

Part 5 of CANopen device profile for truck gateways defines the application objects for auperstructure. The normative references, definitions, acronyms, and abbreviations given in part 1 applies to this part, too.

2003-12-31 589 KB DSP Login
CiA 413-6 version 1.0.0 CANopen interface profile for truck gateways - Part 6: Framework for J1939 parameter groups
Scope

Part 6 of the CANopen device profile for truck gateways defines a framework for J1939-based networks. The normative references, definitions, acronyms, and abbreviations given in part 1 applies to this part, too. The object value definitions shall be as given in SAE J1939-71. The gateway is usable in static systems, where ECU address changes do not apply. Using other protocols based on J1939, such as ISO 11783 or NMEA 2000 will require some extensions, that may be subject to later versions.

2003-12-31 219 KB DSP Login
CiA 413-8 version 1.0.0 CANopen interface profile for truck gateways - Part 8: Framework for HMI control
Scope

This set of profile specifications describes CANopen gateways to CAN-based in-vehicle networks using the SAE J1939-71 application profile, ISO 11992-2, -3, and -4 truck/trailer networks or other J1939-based networks, e.g. ISO 11783-based (ISOBUS) networks,NMEA2000 networks, or RV-CAN network systems. This part of the set of profile specification specifies a generic I/O functionality that enables usage of the truck HMI device.

2011-11-24 410 KB DSP Login
CiA 414-1 version 1.1.0 CANopen device profiles for weaving machines - Part 1: General definitions
Scope

The device profile defines the CANopen interfaces for weaving machines. The specification comprises the following two parts: Part 1 : General definitions; Part 2 : Feeders. Part 1 defines the operating principles for the feeder sub-systems, the error handling and the general communication parameters.

2007-06-18 167 KB PAS Login
CiA 414-2 version 1.1.0 Device profiles for weaving machines - Part 2: Feeders
Scope

Part 2 of the CANopen device profile for weaving machines specifies the CANopen interface for feeders. This device profile for feeders covers ‘pre-measuring feeders’ as well as ‘weft feeders’.

2007-06-18 518 KB PAS Login
CiA 415 version 2.2.0 CANopen application profile for sensor systems in road-construction and earth-moving machines
Scope

The CANopen sensor system application profile for road construction and earth moving machines specifies the communication interface for sensors as well as the sensor control unit. The profile is suitable for a broad range of machine types (e.g. paver, compactor, grader, dozer, mill, heater and truck). NOTE The first version of this profile has been jointly developed with the OSYRIS (Open System for Road Information Support) consortium (www.osyris.org) and the European Asphalt Pa vement Association (EAPA).

2009-04-22 2 MB DSP Login
CiA 416-1 version 2.0.0 Application profile for building door control - Part 1: General definitions, start-up procedures and system security
Scope

The CANopen application profile for building door control consists of several parts: • Part 1: General definitions, start-up procedures and system security; • Part 2: Virtual devices overview; • Part 3: Pre-defined communication objects and application object specification. These specifications represent the CANopen application profile for building door control. It describes the interaction of e.g. door locking status, key cylinder, handle, alarms, system parameters, keypads and many more. Each of those properties is realized as a single virtual device.

2007-08-28 670 KB DSP Login
CiA 416-2 version 2.0.0 CANopen application profile for building door control - Part 2: Virtual devices overview
Scope

This part of the application profile gives an overview of the virtual devices.

2007-08-28 361 KB DSP Login
CiA 416-3 version 2.0.0 CANopen application profile for building door control- Part 3: Pre-defined communication objects and application data objects
Scope

This part of the application profile pre-defines the application objects of the physical and virtual devices in detail.

2007-08-28 4 MB DSP Login
CiA 417-1 version 2.0.0 CANopen application profile for lift control systems - Part 1: General definitions
Scope

This set of CANopen application profile specifications describes the CANopen Lift control network system. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). This application profile specification consists of several parts: • Part 1 provides general definitions; • Part 2 specifies the functionality of the virtual devices; • Part 3 specifies the pre-defined PDOs; • Part 4 specifies the application objects. Besides some general definitions such as general virtual device descriptions, this part specifies the CAN physical layer as well as the error handling. Additionally some network architecture examples are given.

2011-02-02 417 KB PAS Login
CiA 417-1 version 2.3.0 CANopen application profile for lift control systems - Part 1: General definitions
Scope

This set of CANopen application profile specifications specifies the CANopen Lift control network. It consists of several parts: ⎯ Part 1 provides general definitions; ⎯ Part 2 specifies the functionality of the virtual devices; ⎯ Part 3 specifies the pre-defined PDOs; ⎯ Part 4 specifies the application objects. This part specifies the general lift control network architecture and provides description and block diagrams for single and multi-shaft CANopen lift control network structures. It provides description of lift component functions in form of virtual devices and their functions in the lift control network. It specifies CANopen physical layer and node-ID assignment in single or multi-shaft control network. Furthermore, it specifies bootloader mode handling for firmware upload and application programs. Additionally, it specifies also network wide error handling, power management handling, power consumption measurements, and character encoding for VT-52 terminals.

2018-12-10 423 KB DSP Login
CiA 417-2 version 2.0.0 CANopen application profile for lift control systems - Part 2: Virtual device definitions
Scope

This set of CANopen application profile specifications describes the CANopen Lift control network system. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). This application profile specification consists of several parts: • Part 1 provides general definitions; • Part 2 specifies the functionality of the virtual devices; • Part 3 specifies the pre-defined PDOs; • Part 4 specifies the application objects. This part specifies for a single lift application (lift 1) the general communication parameter. It specifies also for each virtual device the supported application objects including the category, access, and default value attributes. It describes the supported Process Data Objects (PDO). In addition, the PDOs for the other lift application 2 to 8 are assigned correspondingly.

2011-02-02 470 KB PAS Login
CiA 417-2 version 2.3.0 CANopen application profile for lift control systems - Part 2: Virtual device definitions
Scope

This set of CANopen application profile specifications specifies the CANopen Lift control network. It consists of several parts: ⎯ Part 1 provides general definitions; ⎯ Part 2 specifies the functionality of the virtual devices; ⎯ Part 3 specifies the pre-defined PDOs; ⎯ Part 4 specifies the application objects. This part specifies the general communication parameters, list of application parameters, including the category, access, and default value attributes, assigned to each virtual device in a single lift application as well as list of PDOs assigned to each virtual device in a lift application 1 to 8.

2018-12-10 1 MB DSP Login
CiA 417-3-1 version 2.0.0 CANopen application profile for lift control systems - Part 3-1: Pre-defined PDOs for lift application 1
Scope

This set of CANopen application profile specifications describes the CANopen Lift control network system. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). This application profile specification consists of several parts: • Part 1 provides general definitions; • Part 2 specifies the functionality of the virtual devices; • Part 3 specifies the pre-defined PDOs; • Part 4 specifies the application objects. This part of the application profile specifies pre-definitions for communication objects. This subpart specifies in detail the communication and mapping behavior of the PDOs for the lift 1 application.

2011-02-02 1 MB PAS Login
CiA 417-3-1 version 2.2.0 CANopen application profile for lift control systems - Part 3-1: Pre-defined PDOs for lift application 1
Scope

This set of CANopen application profile specifications specifies the CANopen Lift control network. It consists of several parts: - Part 1 provides general definitions; - Part 2 specifies the functionality of the virtual devices 3⁄4; - Part 3 specifies the pre-defined PDOs; - Part 4 specifies the application objects. This part of the application profile specifies in detail the communication and mapping behavior of the PDOs for the lift 1 application. Additionally, the COB-ID assignment is specified for PDOs for the lift application 1 to 8.

2018-02-02 1 MB DSP Login
CiA 417-4 version 2.0.0 CANopen application profile for lift control systems - Part 4: Detailed application data objects
Scope

This set of CANopen application profile specifications describes the CANopen Lift control network system. It specifies the CANopen communication interfaces and the applicationfunctionality of several functional elements (virtual devices). This application profile specification consists of several parts: • Part 1 provides general definitions; • Part 2 specifies the functionality of the virtual devices • Part 3 specifies the pre-defined PDOs; • Part 4 specifies the application objects. This part specifies in detail the used process data, configuration parameter, and diagnostic information represented in the object dictionary for the lift 1 application.

2011-02-02 2 MB PAS Login
CiA 417-4 version 2.3.0 CANopen application profile for lift control systems - Part 4: Detailed application data objects
Scope

This set of CANopen application profile specifications specifies the CANopen Lift control network. It consists of several parts: ⎯ Part 1 provides general definitions; ⎯ Part 2 specifies the functionality of the virtual devices; ⎯ Part 3 specifies the pre-defined PDOs; ⎯ Part 4 specifies the application objects. This part specifies in detail the used process data, configuration parameters, and diagnostic information represented in the object dictionary for the lift 1 application.

2018-11-22 4 MB DSP Login
CiA 418 version 1.2.0 CANopen device profile for battery modules
Scope

This device profile specifies a recommended practice for the communication link between a battery module and a battery charger. The required data messages are intended to be sufficient to allow a battery charge to be carried out. Optional data is a selection of data commonly used in the industry to provide enhanced features. Battery modules compliant to this standard shall use communication techniques, which conforms to those described in the CANopen application layer and communication profile.

2012-04-27 716 KB PAS Login
CiA 419 version 1.2.0 CANopen device profile for battery chargers
Scope

This device profile specifies the battery charger communication and application objects in order to obtain sufficient information from the battery module to allow a charge to be carried out. Optional data is a selection of data commonly used in the industry to provide enhanced features. Chargers compliant to this standard shall use communication techniques, which conforms to those described in the CANopen application layer and communication profile.

2012-04-27 474 KB PAS Login
CiA 420-1 version 3.2.0 CANopen profiles for extruder downstream devices - Part 1: General definitions
Scope

The CANopen application profile for extruder downstream devices includes several parts: Part 1 specifies general definitions; Part 2 specifies the device profile for the puller downstream device; Part 3 specifies the device profile for the corrugator downstream device; Part 4 specifies the device profile for the saw downstream device; Part 5 specifies the device profile for the co-extruder device; Part 6 specifies the device profile for the calibration-table downstream device. NOTE All parts of this specification have been developed jointly with the European Committee of Machinery Manufacturers for the Plastics and Rubber Industries (Euromap) and is documented there as Euromap 27. This part specifies the physical layer and the common CANopen functions and common communication objects. It also specifies the CANopen functions of the extruder-master.

2015-05-07 657 KB PAS Login
CiA 420-2 version 3.1.0 CANopen profiles for extruder downstream devices - Part 2: Puller
Scope

The CANopen application profile for extruder downstream devices includes several parts: Part 1 specifies general definitions; Part 2 specifies the device profile for the puller downstream device; Part 3 specifies the device profile for the corrugator downstream device; Part 4 specifies the device profile for the saw downstream device; Part 5 specifies the device profile for the co-extruder device; Part 6 specifies the device profile for the calibration-table downstream device. NOTE All parts of this specification have been developed jointly with the European Committee of Machinery Manufacturers for the Plastics and Rubber Industries (Euromap) and is documented there as Euromap 27. This part specifies the CANopen interface for the puller downstream device.

2015-05-07 475 KB PAS Login
CiA 420-3 version 3.1.0 CANopen profiles for extruder downstream devices - Part 3: Corrugator
Scope

The CANopen application profile for extruder downstream devices include several parts: Part 1 specifies general definitions; Part 2 specifies the device profile for the puller downstream device; Part 3 specifies the device profile for the corrugator downstream device; Part 4 specifies the device profile for the saw downstream device; Part 5 specifies the device profile for the co-extruder device; Part 6 specifies the device profile for the calibration-table downstream device. NOTE All parts of this specification have been developed jointly with the European Committee of Machinery Manufacturers for the Plastics and Rubber Industries (Euromap) and is documented there as Euromap 27 . This part specifies the CANopen interface for the corrugator downstream device.

2015-05-07 435 KB PAS Login
CiA 420-4 version 3.1.0 CANopen profiles for extruder downstream devices - Part 4: Saw
Scope

The CANopen application profile for extruder downstream devices includes several parts: Part 1 specifies general definitions; Part 2 specifies the device profile for the puller downstream device; Part 3 specifies the device profile for the corrugator downstream device; Part 4 specifies the device profile for the saw downstream device; Part 5 specifies the device profile for the co-extruder device; Part 6 specifies the device profile for the calibration-table downstream device. NOTE All parts of this specification have been developed jointly with the European Committee of Machinery Manufacturers for the Plastics and Rubber Industries (Euromap) and is documented there as Euromap 27. This part specifies the CANopen interface for the saw downstream device.

2015-05-07 438 KB PAS Login
CiA 420-5 version 2.1.0 CANopen profiles for extruder downstream devices - Part 5: Simple and advanced co-extruder
Scope

The CANopen application profile for extruder downstream devices includes several parts: Part 1 specifies general definitions Part 2 specifies the device profile for the puller downstream device Part 3 specifies the device profile for the corrugator downstream device Part 4 specifies the device profile for the saw downstream device Part 5 specifies the device profile for the co-extruder device Part 6 specifies the device profile for the calibration-table downstream device NOTE All parts of this specification have been developed jointly with the European Committee of Machinery Manufacturers for the Plastics and Rubber Industries (Euromap) and is documented there as Euromap 27. This part specifies the CANopen interface for simple and advanced co-extruder.

2015-05-07 487 KB PAS Login
CiA 420-6 version 1.1.0 CANopen profiles for extruder downstream devices - Part 6: Calibration-table
Scope

The CANopen application profile for extruder downstream devices include several parts: Part 1 specifies general definitions Part 2 specifies the device profile for the puller downstream device Part 3 specifies the device profile for the corrugator downstream device Part 4 specifies the device profile for the saw downstream device Part 5 specifies the device profile for the co-extruder device Part 6 specifies the device profile for the calibration-table downstream device NOTE All parts of this specification have been developed jointly with the European Committee of Machinery Manufacturers for the Plastics and Rubber Industries (Euromap) and is documented there as Euromap 27. This part specifies the CANopen interface for calibration-tables.

2015-05-07 556 KB PAS Login
CiA 421-1 version 1.0.0 CANopen application profile for train vehicle control systems - Part 1: General definitions
Scope

This application profile defines the communication between virtual devices within locomotives, power cars as well as coaches. It is intended to use the application profile for urban and regional rail vehicle transportation system as well as long-distance rail vehicle transportation systems including high-speed trains. But it is not limited to these railway applications, e.g. it is also used in cargo train locomotives and cargo train wagons as well as other railway transportation systems, such as commuter trains, subway trains, etc. The set of specifications is organized as follows: • Part 1: General definitions; • Part 2: Train operating system (TOS); • Part 3: Monitoring and safety system (MSS); • Part 4: Auxiliary operating system (AUX): • Part 5: Power (drive) system (PDS); • Part 6: Running gear system (RGS); • Part 7: Brake control system (BCS); • Part 8: Ancillary operating system (ANC); • Part 9: Vehicle linkage system (VLS); • Part 10: Exterior lighting system (ELS); • Part 11: Interior lighting system (ILS); • Part 12: Door control system (DCS); • Part 13: HVAC system (HS); • Part 14: Passenger information system (PIS); • Part 15: Cargo superstructure system (CSS); • Part 16: Diagnostic system (DS); • Part 17: Train-to-ground communication system (TCS); • Part 18: Slip/slide control system (SCS). CANopen devices compliant to this application profile use communication techniques, which conform to those described in the CiA Draft Standard 301.

2006-08-18 409 KB DSP Login
CiA 421-4 version 1.0.0 CANopen application profile for train vehicle control systems - Part 4: Auxillary operating system
Scope

This part of the CANopen application profile for train control networks describes the CANopen interface of the virtual rail vehicle auxiliary operating system.

2016-08-18 504 KB DSP Login
CiA 421-5 version 1.0.0 CANopen application profile for train vehicle control systems - Part 5: Power (drive) system
Scope

This part of the CANopen application profile describes the CANopen interface of the virtual power drive system to the rail vehicle in-vehicle network.

2006-08-18 2 MB DSP Login
CiA 421-9 version 1.0.0 CANopen application profile for train vehicle control systems - Part 9: Vehicle linkage system
Scope

This part of the CANopen application profile for rail vehicles describes the CANopen interface of the vehicle linkage device. Via this interface all required data is exchanged that is relevant to control full automatic couplings. Full automatic couplings handle all connections between the rail vehicles such as e.g. electrically or electrical automatically, without human interaction.

2008-04-17 354 KB DSP Login
CiA 421-10 version 1.0.0 CANopen application profile for train vehicle control systems - Part 10: Exterior lighting system
Scope

This part of the CANopen application profile for rail vehicles describes the CANopen interface of the virtual exterior lighting system.

2008-08-18 452 KB DSP Login
CiA 421-11 version 1.0.0 CANopen application profile for train vehicle control systems - Part 11: Interior lighting system
Scope

This part of the CANopen application profile for rail vehicles describes the CANopen interface of the virtual interior lighting system.

2006-08-18 350 KB DSP Login
CiA 421-12 version 1.0.0 CANopen application profile for train vehicle control systems - Part 12: Door control system
Scope

This part of the CANopen application profile for rail vehicles describes the CANopen interface of the virtual door control system.

2006-08-18 549 KB DSP Login
CiA 422-1 version 2.1.0 CANopen application profile for municipal vehicles - Part 1: General definitions
Scope

This set of CANopen application profile specifications describes the CleANopen embedded body control network of municipal vehicles, e.g. refuse collecting trucks. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). It does not specify CANopen devices. With special regard to functional safety, any device is responsible for a safe operation, by itself. Any measure that increases the probability for safe operation and utilizes the CAN communication is just on top. Therefore these measures are not safety-relevant in terms of functional safety. The CleANopen application profile specifications consists of several parts: • Part 1 provides the general definitions; • Part 2 specifies the functionality of the virtual devices; • Part 3 specifies the pre-defined PDOs and SDOs; • Part 4 specifies the application objects. This part provides some general definitions of CleANopen and specifies the CAN physical layer as well as the error handling.

2018-12-20 577 KB DSP Login
CiA 422-2 version 2.1.0 CANopen application profile for municipal vehicles - Part 2: Virtual device functionality
Scope

This set of CANopen application profile specifications describes the CleANopen embedded body control network of municipal vehicles, e.g. refuse collecting trucks. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). It does not specify CANopen devices. The CleANopen application profile specifications consists of several parts: • Part 1 provides the general definitions; • Part 2 specifies the functionality of the virtual devices; • Part 3 specifies the pre-defined PDOs and SDOs; • Part 4 specifies the application objects; This part specifies the general communication parameter. It specifies for each virtual device the supported application objects including the category, access, and default value attributes. It describes the supported Process Data Objects (PDO) and additional Service Data Objects (SDO).

2018-12-20 641 KB DSP Login
CiA 422-3-1 version 2.1.0 CANopen application profile for municipal vehicles - Part 3-1: Pre-defined TPDOs
Scope

This set of CANopen application profile specifications describes the CleANopen embedded body control network of municipal vehicles, e.g. refuse collecting trucks. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). It does not specify CANopen devices. The CleANopen application profile specifications consists of several parts: • Part 1 provides the general definitions; • Part 2 specifies the functionality of the virtual devices; • Part 3 specifies the pre-defined PDOs and SDOs; • Part 4 specifies the application objects. This sub-part of part 3 specifies the communication and mapping parameter sets of the pre- defined TPDOs.

2018-12-20 4 MB DSP Login
CiA 422-3-2 version 2.1.0 CANopen application profile for municipal vehicles - Part 3-2: Pre-defined RPDOs
Scope

This set of CANopen application profile specifications describes the CleANopen embedded body control network of municipal vehicles, e.g. refuse collecting trucks. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). It does not specify CANopen devices. The CleANopen application profile specifications consists of several parts: • Part 1 provides the general definitions; • Part 2 specifies the functionality of the virtual devices: • Part 3 specifies the pre-defined PDOs and SDOs; • Part 4 specifies the application objects. This sub-part of part 3 specifies the communication and mapping parameter sets of the pre-defined RPDOs.

2018-12-20 4 MB DSP Login
CiA 422-3-3 version 2.1.0 CANopen application profile for municipal vehicles - Part 3-3: Pre-defined SDOs
Scope

This set of CANopen application profile specifications describes the CleANopen embedded body control network of municipal vehicles, e.g. refuse collecting trucks. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). It does not specify CANopen devices. The CleANopen application profile specifications consists of several parts: • Part 1 provides the general definitions; • Part 2 specifies the functionality of the virtual devices; • Part 3 specifies the pre-defined PDOs and SDOs; • Part 4 specifies the application objects. This sub-part of part 3 specifies the pre-defined additional SDO clients and servers.

2018-12-20 644 KB DSP Login
CiA 423-1 version 1.0.0 CANopen application profile for rail vehicle power drive systems - Part 1: General definitions
Scope

This CANopen application profile defines the communication between virtual devices within a rail vehicle power drive system. The power drive system shall be connected via a gateway device to the logical CANopen-based train vehicle control network as defined in CiA 421. The set of specifications is organized as follows: • Part 1: General definitions; • Part 2: Traction controller; • Part 3: Diesel engine control unit; • Part 4: Transmission control unit; • Part 5: Speed sensor unit; • Part 6: Diesel engine safety control unit; • Part 7: Diesel engine signal control unit; • Part 8: Clutch control unit; • Part 9: Gear control unit; • Part 10: Particle filter control unit; • Part 11: Starter unit; • Part 12: Oil refill tank unit. Devices compliant to this application profile uses communication techniques, which conform to those described in the CiA Draft Standard 301.

2006-08-18 156 KB DSP Login
CiA 423-2 version 1.0.0 CANopen application profile for rail vehicle power drive systems - Part 2: Traction controller
Scope

This part of the CANopen application profile for rail vehicles power drive systems describes the traction controller.

2006-08-18 1 MB DSP Login
CiA 423-3 version 1.0.0 CANopen application profile for rail vehicle power drive systems - Part 3: Diesel engine control unit
Scope

This part of the CANopen application profile for rail vehicle power drive systems describes the diesel engine control unit.

2006-08-18 1 MB DSP Login
CiA 423-4 version 1.0.0 CANopen application profile for rail vehicle power drive systems - Part 4: Transmission control unit
Scope

This part of the CANopen application profile for rail vehicle power drive systems describes the transmission control unit.

2006-08-18 413 KB DSP Login
CiA 423-5 version 1.0.0 CANopen application profile for rail vehicles power drive systems - Part 5: Diesel engine safety control unit
Scope

This part of the CANopen application profile for rail vehicle power drive systems describes the diesel engine safety control unit.

2006-08-18 313 KB DSP Login
CiA 423-6 version 1.0.0 CANopen application profile for rail vehicle power drive systems - Part 6: Speed sensor unit
Scope

This part of the CANopen application profile for rail vehicle power drive systems describes the speed sensor unit.

2006-08-18 284 KB DSP Login
CiA 423-7 version 1.0.0 CANopen application profile for rail vehicle power drive systems - Part 7: Diesel engine signal unit
Scope

This part of the CANopen application profile for rail vehicle power drive systems describes the diesel engine signal unit. The diesel engine signal unit is the measuring unit, required for diesel engine control and monitoring.

2006-08-18 628 KB DSP Login
CiA 423-10 version 1.0.0 CANopen application profile for rail vehicle power drive systems - Part 10: Particle filters control unit
Scope

This part of the CANopen application profile for rail vehicle power drive systems describes the particle filters control unit. In addition this document describes the objects, required for controlling the selective catalytic reduction unit.

2006-08-18 508 KB DSP Login
CiA 423-11 version 1.0.0 CANopen application profile for rail vehicle power drive systems - Part 11: Starter unit
Scope

This part of the CANopen application profile for rail vehicle power drive systems describes the starter unit.

2006-08-18 242 KB DSP Login
CiA 423-12 version 1.0.0 CANopen application profile for rail vehicle power drive systems - Part 12: Oil refill unit
Scope

This part of the CANopen application profile for rail vehicle power drive systems describes the oil refill unit.

2006-08-18 283 KB DSP Login
CiA 424-1 version 1.0.0 CANopen application profile for rail vehicle door control systems - Part 1: General definitions
Scope

This CANopen application profile defines the communication between virtual devices within a rail vehicle door control system. The rail vehicle door control system may be connected via a gateway device to the logical CANopen-based rail vehicle in-vehicle network. The set of specifications is organized as follows: • Part 1: General definitions; • Part 2: Door controller; • Part 3: Door unit. Devices compliant to this application profile shall use communication techniques, which conform to those described in the CiA Draft Standard 301.

2006-08-18 353 KB DSP Login
CiA 812 version 1.0.0 CiA 457 device use cases
Scope

This application note describes use cases CANopen devices support communication capabilities as specified in CiA 315 “CANopen Generic frame for wireless tunnelling of CAN messages and for transfer of diagnostic data”.

2011-08-09 425 KB TR Login
CiA 810 version 1.0.0 CANopen CiA 434 implementation guideline
Scope

This application note recommends and suggests how to implement and handle devices, which are compliant to CiA 434 profile family. The application note discusses the different modes of operation for laboratory automation slaves (LAS), the transfer of the commands to the LAS as well as the handling of the command parameter RAM (CPRAM). The purpose of this application note is to explain the major issues of specification CiA 434 standard part 1. This document is not normative but informative. In case of doubts always the specifications given in CiA 434 apply.

2010-01-24 847 KB TR Login
CiA 801 version 1.0.0 CANopen automatic bit-rate detection
Scope

This technical report describes the recommended practice and gives application hints for implementing automatic bit-rate detection in CANopen devices. With the Layer Setting Services (LSS) it is possible to change the bit-rate in CANopen networks. However, this mechanism fails in certain situations. Some low-cost devices that do not support LSS at all could also benefit from the recommended automatic bit-rate detection method. This technical report discusses an approach for automatic bit-rate detection in CANopen networks. As introduction the possible solutions to detect an unknown bit-rate for CAN controllers (Software / Hardware) are presented. The technical report will focus on situations where automatic bit-rate detection fails (no traffic on the bus, error frames) and how to avoid these deadlocks.

2005-01-01 334 KB TR Login
CiA 601-6 version 1.0.0 CAN FD node and system design - Part 6: Cable
Scope

This set of documents specifies and recommends the usage of CAN FD hardware implementations. It consists of the following parts: Part 1: Physical interface implementation, Part 2: Controller interface specification, Part 3: System design recommendation, Part 4: Signal improvement, Part 6: CAN FD cable. This part specifies the requirements and test methods of the mechanical and electrical parameters for cables to be used in CAN FD networks.

2019-09-06 227 KB DS Login
CiA 601-2 version 1.0.0 CAN FD node and system design - Part 2: Protocol controller interface
Scope

This set of documents specifies and recommends the usage of CAN FD hardware implementations. It consists of the following parts: Part 1: Physical interface implementation, Part 2: Controller interface specification, Part 3: System design recommendation, Part 4: Ringing suppression. This part describes the specified interface between the protocol controller implementing the CAN FD data link layer protocol and the host controller including necessary configuration registers. Such a harmonized interface reduces the effort for adapting the low-level driver software to different implementations.

2019-09-06 479 KB DS Login
CiA 601-1 version 2.0.0 CAN FD node and system design - Part 1: Physical interface implementation
Scope

This set of documents specifies and recommends the usage of CAN FD hardware implementations. It consists of the following parts: Part 1: Physical interface implementation, Part 2: Controller interface specification, Part 3: System design recommendation, Part 4: Ringing suppression. This part provides specifications and guidelines on the physical layer interface design for automotive electronic control units and non-automotive devices supporting the CAN FD data link layer as defined in ISO 11898-1 and the CAN high-speed physical layer as defined in the harmonized ISO 11898-2 standard, which includes the specification of high-speed transceivers with low-power mode (formerly known as ISO 11898-5) and/or with selective wake-up functionality (formerly known as ISO 11898-6).

2021-03-08 815 KB TR Login
CiA 456 version 1.0.0 CANopen interface profile for configurable network components
Scope

This document specifies the CANopen interface for configurable network components that provide CAN bridge functionality and have up to 16 CAN ports including one configurable CANopen port. Via this CANopen port, the CAN message routing between the remaining 15 CAN ports of such a device is configured. The properties of the higher layer protocols that are running on these 15 CAN ports are not in the scope of this specification. For such applications other specifications may apply and may be combined with this profile.

2012-07-11 457 KB DSP Login
CiA 455 version 1.0.0 CANopen application profile for drilling machines
Scope

This specification describes the control application for drilling machines with special regard on positioning and tool control.

2010-06-30 2 MB DSP Login
CiA 454-9 version 1.0.0 CANopen application profile for energy management systems - Part 9: HMI unit
Scope

This document specifies application objects provided or indicated by human machine interface units, as typically utilized in light electric vehicles. This comprises human machine interface units, managing data for signalling, travelling, battery systems, inputs for energy management user condition and state, motion and diagnostics.

2021-04-06 283 KB DSP Login
CiA 454-7 version 1.0.0 CANopen application profile for energy management systems - Part 7: Drive control unit
Scope

This document specifies application objects provided by the drive control unit, as typically utilized in light electric vehicles.

2021-04-06 665 KB DSP Login
CiA 454-14 version 1.0.0 CANopen application profile for energy management systems - Part 14: Load unit
Scope

The 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 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.

2014-06-17 453 KB DSP Login
CiA 454-13 version 1.0.0 CANopen application profile for energy management systems - Part 13: Generator unit
Scope

The 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 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.

2014-06-17 533 KB DSP Login
CiA 447-4 version 2.1.0 CANopen application profile for special-purpose car add-on devices - Part 4: Pre-defined CAN-IDs and communication objects
Scope

This 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.

2015-12-14 490 KB DSP Login
CiA 447-3 version 2.1.3 CANopen application profile for special-purpose car add-on devices - Part 3: Application data objects
Scope

This CANopen application profile specifies the 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.

2018-09-07 4 MB DSP Login
CiA 447-2 version 2.1.3 CANopen application profile for special-purpose car add-on devices - Part 2: Virtual device definitions
Scope

This CANopen application profile specifies the 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.

2018-09-07 431 KB DSP Login
CiA 447-1 version 2.1.0 CANopen application profile for special-purpose car add-on devices - Part 1: General definitions
Scope

This 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.

2015-12-14 1 MB DSP Login
CiA 446 version 1.0.0 CANopen device profile for AS-Interface gateways
Scope

This 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.

2006-11-06 1 MB DSP Login