Technical documents

CiA develops and publishes technical documents. Specifications contain functional requirements and permissions to be implemented in hardware or software. Typical examples are the CANopen CC (classic) application layer (CiA 301) or the CANopen device profile for generic I/O modules (CiA 401 series).

Technical reports comprise recommendations, implementation and user guidelines, application notes, use-case descriptions, etc. A typical example is the CiA 106 connector pin‑assignment recommendation.

Withdrawn technical documents are listed, as well.

The documents with status "Public Available Specification" (PAS) or "Technical Report" (TR) can be downloaded free of charge by everyone after registration respectively login as member. The documents classified as "Draft Specification" (DS) are accessible free of charge for members; non-members can subscribe to them. "Draft Specification Proposal" (DSP) documents are limited to members.

For more information, please send an email to webdownload(at)can-cia.org.

Title Details
Published
Size
Status
Action
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 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 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 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 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 417-2 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 417-3-1 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 417-4 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 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 401-1 version 3.1.0 CANopen profile for I/O devices - Part 1: Generic I/O modules
Scope

This CANopen profile specifies generic CANopen digital and analog input and output devices. Devices compliant to this specifications use communication techniques, which are 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 device profile specification consists of several parts: ⎯ Part 1: Generic I/O devices ⎯ Part 2: Joysticks This part of the device profile specifies the CANopen interface for modules with generic analog and digital inputs and outputs. The first default TPDO and RPDO support up to 64 digital inputs, respectively up to 64 digital outputs both grouped byte-wise. The remaining default PDOs transmit or receive up to 12 analog inputs respectively up to 12 analog outputs both with a 16-bit resolution. All TPDOs are triggered by change-of-state. Therefore, default TPDOs containing analog inputs are disabled. Besides the default byte-wise access to digital I/Os, optional bit-, word-, and double-word access may be supported. Besides the default 16-bit resolution for the analog I/Os, optional 8-bit, 32-bit, floating-point and manufacturer-specific resolutions may be supported. Several parameters are specified to configure the input and output behavior (e.g. trigger conditions for inputs, output behavior in case of internal device failures.

 2013-02-12 2 MB PAS Login
CiA 401-2 version 3.1.0 CANopen profile for I/O devices - Part 2: Joysticks
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.

 2013-02-12 494 KB PAS 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 406 version 4.1.0 CANopen device profile for encoders
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).

 2019-06-01 2 MB PAS Login
CiA 410 version 1.3.0 CANopen device profile for inclinometer
Scope

This specification represents the CANopen device profile for one- and two-axis inclinometers.

 2010-02-23 454 KB PAS 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 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 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 601-3 version 1.0.0 CAN FD node and system design - Part 3: System design recommendations, CAN FD bit-timing configuration and evaluation tool, version 1.0 as an attachment to the CiA 601-3 v. 1.0.0 TR682 KiB
Scope

This set of documents recommends the usage of CAN FD hardware implementations. It consist of the following parts: Part 1: Physical interface implementation, Part 2: CAN controller interface specification, Part 3: System design recommendation, Part 4: Signal improvement. This part provides recommendations for CAN FD network design, especially, bit-timing setting rules and guidelines are given. This part also includes the spreadsheet that helps to perform the CAN clock tolerance calculation, the bit-timing evaluation and optimization, the bit asymmetries calculation, and the evaluation of the robustness.

 2021-03-08 682 KB TR 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).

 2021-03-08 818 KB TR Login
CiA 140 version 1.0.0 ISO 11898-2:2024 corrigendum proposal
Scope

This document proposes editorial, general, and technical improvements of the ISO 11898-2:2024 international standard.

 2024-04-30 95 KB TR Login
CiA 106 version 1.1.0 Connector pin-assignment recommendations
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.

 2023-07-11 896 KB TR Login
CiA 303-1 version 2.0.1 Device and network design - Part 1: CANopen physical layer
Scope

This document provides device and network design recommendations for the CANopen physical layer. Additionally, it provides guidelines for selecting cables for use in CANopen systems.

 2023-03-27 217 KB TR Login
CiA 802 version 1.1.1 Avoiding CAN Remote Frames in CANopen networks
Scope

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

 2021-02-10 366 KB TR Login
CiA 808 version 1.1.0 CiA 444 implementation guideline for CANopen
Scope

This documents describes the recommended practice and gives application hints for implementing the connection of crane and spreader compliant with the CiA 444-1 and CiA 444-2 specifications.

 2021-03-23 440 KB TR Login
CiA 814-1 version 1.0.1 CiA 417 implementation and user guidelines - Part 1: Bootloader
Scope

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

 2021-03-23 379 KB TR Login
CiA 850 version 1.0.1 CiA 413-based truck gateway for cranes, hookloaders, and areal working platforms
Scope

This document recommends how to implement a CiA 413 gateway interface for truck-mounted cranes, multi-lifts, and aerial working platforms. Besides some general recommendations regarding the CANopen interface, it recommends Process Data Objects to be received and to be transmitted.

 2021-03-23 783 KB TR Login
CiA 852 version 1.0.1 CiA 401-based operator environment sub-system
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.

 2021-04-03 648 KB TR Login
CiA 890 version 1.0.0 Presentation of SI units and prefixes
Scope

This document provides recommendation how to represent the international system of units and prefixes in parameter specifications. It recommends also the structure of configuration parameters for SI units and prefixes.

 2023-01-10 267 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 425-1 version 2.1.0 CANopen application profile for medical diagnostic add-on modules – Part 1: General definitions
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.

 2011-06-03 447 KB DS Login
CiA 103 version 1.1.0 Intrinsically-safe CAN device interface
Scope

This document specifies an intrinsically-safe CAN device interface. It does not list the requirements by which an item of equipment can be certified as intrinsically safe nor does it require equipment to be intrinsically safe. NOTE 1 The document seeks to exclude conditions or situations that would prevent IS certification. Many parameters are selected by the developers to provide a baseline for calculation. NOTE 2 The wire-medium specification provides the option of intrinsically safe power via t he network conductors.

 2023-05-05 581 KB DS Login
CiA 309-1 version 3.0.0 CANopen access from other networks - Part 1: General principles and services
Scope

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

 2020-04-06 897 KB DS Login
CiA 309-2 version 1.3.0 CANopen access from other networks - Part 2: Modbus TCP/IP mapping
Scope

This specification defines the services and protocols to interface CANopen networks to other (e.g. TCP/IP-based) networks. This set of specifications is organized as follows: • Part 1: General principles and services; • Part 2: Modbus/TCP mapping; • Part 3: ASCII mapping; • Part 4: Amendment 7 to Fieldbus Integration into PROFINET IO. Part 2 specifies the mapping of services defined in CiA 309-1 on Modbus/TCP. It is intended to access CANopen devices via a CiA 309 gateway device from a remotely Modbus/TCP connected device (e.g. PLC or tool).

 2015-07-30 1,017 KB DS Login
CiA 309-3 version 3.0.0 CANopen access from other networks - Part 3: ASCll mapping
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.

 2020-04-06 762 KB DS Login
CiA 309-5 version 1.0.0 CANopen access from other networks - Part 5: RESTful and WebSocket mapping
Scope

This part specifies the mapping of CANopen services, introduced in the part 3, in HTTP (HTTPS) and WebSocket protocols with physical and logical addressing.

 2020-04-06 2 MB DS Login
CiA 442 version 1.1.0 CANopen profile for IEC 61915-2 compatible motor starters
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.

 2022-05-02 495 KB DS Login
CiA 444-1 version 2.0.2 CANopen profiles for container-handling machine add-on devices - Part 1: General definitions
Scope

This document specifies the physical layer, and some general CANopen communication parameter objects.

 2022-05-02 275 KB DS Login
CiA 444-2 version 2.0.1 CANopen profiles for container-handling machine add-on devices - Part 2: Spreader for crane
Scope

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

 2022-05-02 1 MB DS Login
CiA 444-3 version 2.0.1 CANopen profile for container-handling machine add-on devices - Part 3: Spreader for straddle carrier
Scope

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

 2022-04-12 1 MB DS Login
CiA 445 version 1.1.0 CANopen device profile for RFID devices
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.

 2022-04-29 1 MB DS Login
CiA 450 version 1.0.1 CANopen device profile for pumps
Scope

This document specifies the CANopen interfaces for pump devices of the following types, based on VDMA 24223 series: - Generic pump; - Rotodynamic (liquid) pump. It specifies the object dictionary entries and the PDO mapping for both pump types.

 2022-07-22 4 MB DS Login
CiA 452 version 1.1.0 CANopen device profile for PLCopen motion control
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.

 2022-08-10 820 KB DS Login
CiA 453 version 2.0.0 CANopen device profile for power supplies
Scope

This document specifies the CANopen communication and application parameters as well as the PDO mapping for power supplies and power converters.

 2022-02-09 2 MB DS Login
CiA 457 version 1.1.0 CANopen interface profile wireless transmission
Scope

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

2022-08-09 725 KB DS Login
CiA 458 version 1.0.1 CANopen device profile for energy measurements
Scope

This document specifies the CANopen interface for energy measuring devices. This includes energy consumption as well as energy production, in particular for energy recovering.

 2022-05-19 774 KB DS Login
CiA 459-1 version 1.0.1 CANopen profile for on-board weighing devices - Part 1: General specification and functional overview
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.

 2022-08-09 511 KB DS Login
CiA 459-2 version 1.0.1 CANopen profile for on-board weighing devices - Part 2: Communication parameters
Scope

This document specifies the mandatory and recommended communication parameters, as well as the parameter sets for the PDO communication.

 2022-08-09 250 KB DS Login
CiA 459-3 version 1.0.1 CANopen profile for on-board weighing devices - Part 3: Application data objects
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.

 2022-08-09 1,007 KB DS Login
CiA 462 version 1.1.0 CANopen profile for item detection devices
Scope

This document specifies the CANopen interface for devices that identify existence, dimension, orientation, or movement of items in their environment (e.g. optical camera (2D or 3D), laser device). Often those devices are called vision sensors or object detection devices.

 2023-06-27 2 MB DS Login
CiA 463-B version 1.0.0 Device profile for IO-Link gateway - Part B: Functional behavior and parameters
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.

 2019-06-27 717 KB DS Login
CiA 463-C version 1.0.0 Device profile for IO-Link gateway - Part C: CANopen mapping
Scope

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

 2019-06-27 354 KB DS Login
CiA 463-F version 1.0.0 Device profile for IO-Link gateway — Part F: CANopen FD mapping
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.

 2019-06-26 333 KB DS Login
CiA 510 version 1.1.1 J1939 parameter groups for SDO and EMCY
Scope

This document specifies the mapping of CANopen application layer protocols to J1939 parameter groups. This includes, in particular, the mapping of SDO (service data object) client and SDO server protocols. Additionally, this document specifies the mapping of the EMCY (emergency) protocol. The mapping of CANopen profile-specific PDOs is not in the scope of this document.

 2022-10-17 179 KB DS Login
CiA 603 version 1.1.0 CAN network time management
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.

 2023-09-01 458 KB DS Login
CiA 102 version 3.1.0 CAN physical layer for industrial applications
Scope

This document specifies and recommends the bit-timing settings for CAN interfaces, in order to achieve generic compatibility between CAN devices, in particular between CANopen field devices.

 2023-02-24 239 KB DS Login
CiA 406-B version 1.1.0 Encoder device profile - Part B: Functional behavior and parameters
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.

 2024-08-20 2 MB DS Login
CiA 406-C version 1.1.0 Encoder device profile - Part C: Mapping to CANopen CC
Scope

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

 2024-08-20 836 KB DS Login
CiA 406-F version 1.1.0 Encoder device profile - Part F: Mapping to CANopen FD
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.

 2024-08-20 518 KB DS Login
CiA 406-J version 1.3.0 Encoder device profile - Part J: Mapping to J1939
Scope

This document specifies the mapping of CiA 406-B process data into J1939 parameter groups. This includes the specification of parameter groups and the configuration by means of the CAM11 and CAM21 parameter groups specified in the CiA 510 document.

 2024-08-20 323 KB DS Login
CiA 410-B version 1.1.0 Inclinometer device profile - Part B: Functional behavior and parameters
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.

 2024-08-21 671 KB DS Login
CiA 410-C version 1.1.0 Inclinometer device profile - Part C: Mapping to CANopen CC
Scope

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

2024-08-21 651 KB DS Login
CiA 410-F version 1.1.0 Inclinometer device profile - Part F: Mapping to CANopen FD
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.

 2024-08-21 395 KB DS Login
CiA 410-J version 1.2.0 Inclinometer device profile - Part J: Mapping to J1939
Scope

This document specifies the mapping of CiA 410 process data into J1939 parameter groups. This includes the specification of parameter groups and the configuration by means of the CAM11 and CAM21 parameter groups specified in the CiA 510 specification.

 2024-08-21 310 KB DS Login
CiA 425-2 version 2.2.0 CANopen application profile for medical diagnostic add-on modules – Part 2: Injector
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.

 2011-06-03 2 MB DS Login
CiA 408 version 2.2.0 CANopen device profile for fluid power technology
Scope

This CiA device profile describes the functionality of interconnectable proportional valves, hydrostatic pumps and hydrostatic transmissions. The specification is based on the profile “Fluid Power Technology”, version 1.6.3 designed by Verband Deutscher Maschinen- und Anlagenbau e.V. Frankfurt/Main, Germany (VDMA). The device profile specifies CANopen interface for hydraulic proportional valves, hydrostatic pumps and hydrostatic transmissions. This profile may as well be applied on pneumatic devices.

 2024-09-12 8 MB DS Login
CiA 309-5 version 1.0.0 CANopen access from other networks - Part 5: RESTful and WebSocket mapping
Scope

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 2020-04-06 2 MB DS 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 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 306-1 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 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 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 314 version 1.0.0 Accessing CANopen services in devices programmable in IEC 61131-3 languages
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).

 2015-10-09 342 KB 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 404-1 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 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