IG02 CANopen FD

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.

Scope

This document specifies the CANopen FD application layer and communication profile. This includes the data types, encoding rules, and object dictionary data objects as well as the CANopen FD communication services and protocols. In addition, this document specifies the CANopen FD network management services and protocols. It covers also the mapping to the CAN lower layers (CAN FD data link layer and CAN physical medium attachment options).

Scope

Scope

This document provides recommendations for using CAN FD in “low-speed” applications. The term “low-speed” represents bitrates of under 1 Mbit/s in the arbitration phase. Typically, applications that demand large physical network dimensions (e.g., lifts, vessels, rolling stock, reduce are limited in their communication speed, for example to 125 kbit/s. In order to keep latency on the bus low even when using CAN FD data frames, which can support a significantly larger data field compared to CAN CC, such applications call for a bit rate switch to a higher value in the data phase; for example, 500 kbit/s. This document provides recommendations for bit timing configurations for "low-speed" bitrates with today’s CAN controllers, complementing the bit timing recommendations from CiA 1301 (??//Relationship between this document and CiA 1301 needs to be clarified)etc.)

Scope