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.

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.

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.

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.

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’.

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.

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.

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.

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.

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.

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.

Scope

This CANopen profile specifies generic CANopen digital and analog input and output devices. Devices compliant to this specifications use communication techniques, which conform to those described in the CANopen application layer and communication profile specification. In addition, programmable I/O devices may use communication techniques, which conform to those described in the CANopen additional application layer functions. This profile consists of several parts: ⎯ Part 1: Generic I/O devices ⎯ Part 2: Joysticks This part of the profile specifies the CANopen interface for joysticks and similar devices, e.g. foot-pedals.

Scope

This document specifies the communication and application parameters for different types of linear and rotary encoders such as incremental and absolute, normal, and high resolution, single and multi-sensor (linear only) encoders. The document provides also operating principles of the encoders and specifies encoder output process values such as position, speed, acceleration and jerk. The document specifies also encoder CAM parameters. This document also specifies CANopen Safety parameters such as Safety position and Safety speed for encoders with CANopen Safety functionality (see EN 50325-5).

Scope

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

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”.

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.

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).

Scope

This document recommends the connector pin-assignment for CAN interfaces. This includes the CAN_H and CAN_L pins, the ground pin, and the power supply pins.

Scope

This document provides recommendations for avoiding CAN Remote Frames when using CANopen communication services.

Scope

This document provides implementation hints for CiA 417’s bootloader (CiA 417 version 2.2.0 and higher).

Scope

This document recommends how to implement the CANopen interface for operator environments with human-machine interface functionality. It is based on the CiA 401 CANopen profile for generic I/O modules. It recommends how to use the digital and analog process data parameters specified in CiA 401. It also recommends a mapping of these parameters into PDOs.

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.

Scope

The CANopen application profile for medical diagnostic add-on modules includes several parts: Part 1 describes general definitions. Part 2 defines the profile for injector devices. Devices compliant to these profiles use communication techniques, which conforms to those described in the CANopen application layer and communication profile (CiA 301). In addition, medical devices and sub-systems may use communication techniques, which conform to those described in the CANopen additional application layer functions specification (CiA 302). These specifications should be consulted in parallel to these device profile specifications.

Scope

This part specifies the mapping to CANopen communication services to access CANopen networks from the other networks.

Scope

This part specifies the ASCII-based communication syntax for CiA 309 gateway devices. The aim is to provide a lightweight counterpart to solutions with CORBA or OPC.

Scope

This document specifies the CANopen profile for a sub-section of low-voltage switchgear devices: motor starters, soft starters, and motor management starters. The specification is functional compatible with the international standard IEC 61915-2.

Scope

This document specifies the device profile for crane spreaders including process data and process data objects.

Scope

This document specifies the CANopen interface for simple and sophisticated radio frequency identification (RFID) devices. This includes the specification of the physical layer, the data link layer, and the application layer as well as the specification of process data, configuration parameters, and diagnostic information. This includes commands and possibilities to control an RFID reader via the CANopen network.

Scope

This document specifies the classic CANopen interface controlling PLCopen drives by means of one RPDO (receive process data object) and one TPDO (transmit process data object). This includes the parameter (objects) used for PLCopen-specific modes supporting gear, jog, and camming functions. Objects specified in IEC 61800-7-201 are referenced in the Annex A.

Scope

This document specifies the CANopen interface profile for devices providing a gateway function to wireless transmission media ports.

Scope

This document provides general definitions and specifies the data link and the physical layer interface for on-board weighing devices. Additionally, it specifies the CANopen application layer functionality. It also describes the device’s operational principles and defines device classes.

Scope

This document specifies the application parameters (process, diagnostic, and configuration data) of the on-board weighing devices. It also specifies profile-specific data types.

Scope

This document specifies operating principles and the application data for IO-Link interface devices. This includes the functional behavior and general specifications of the application parameters.

Scope

This document specifies the mapping of the IO-Link gateways to CANopen FD. This includes the specifications of the CAN FD physical layer, data link layer, and the CANopen FD communication parameters.

Scope

This document specifies the time-stamping, when transmitting and receiving CAN data frames in classical CAN and CAN FD formats. This time synchronization can be used in particular in AUTOSAR environments. Therefore, a link to the AUTOSAR time synchronization is described.

Scope

This document specifies the functional behavior as well as application parameters for different types of linear and rotary encoders such as incremental and absolute, normal, and high-resolution, single and multi-sensor (linear only) encoders. This includes encoder output process values such as position, speed, acceleration and jerk, and encoder CAM parameters. Additionally, safety-related parameters such as safety position and safety speed for encoders are specified. The mapping into Process Data Objects (PDO), Safety-related Data Objects (SRDO), and Parameter Groups (PG) is not in the scope of this document.

Scope

This document part specifies the CANopen FD communication and mapping parameters for encoders compliant with the CiA 406-B specification. This includes the PDO mapping.

Scope

This document specifies the functional behavior as well as application parameters for inclinometers. The mapping into Process Data Objects (PDO), Safety-related Data Objects (SRDO), and Parameter Groups (PG) is not in the scope of this document.

Scope

This document specifies the CANopen FD communication and mapping parameters for inclinometers compliant with the CiA 410-B specification. This includes the PDO mapping.

Scope

This profile specifies the CANopen device profile for injector interface units. This profile covers injectors connected to a medical diagnostic system (angiography, computer tomography, and other medical diagnostic devices), which provide CANopen Manager functionality. If a safety-related communication is required, the injector device shall be compliant to the CANopen framework for safety-related communication (CiA 304). A prerequisite for the conformity to this CANopen device profile is conformity with the CANopen communication profile (CiA 301). Additionally, in the case that the module is programmable it shall conform to the framework for programmable CANopen devices (CiA 302). These specifications should be consulted in parallel to this device profile specification.

Scope

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".

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.

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)

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.

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.

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.

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.

Scope

This document specifies function blocks to produce or consume CANopen communication services for devices programmable in IEC 61131-3 languages and to provide local CANopen functions. This specification is suitable for programmable logic controllers (PLCs), PC-based controllers running a PLC-software, and other programmable devices compliant to IEC 61131. NOTE This specification substitutes the CiA 405 document those content has been moved to different documents (CiA 302-4 and CiA 306-3).

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.

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.

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.

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