IG CANopen

Scope

Enhancement and maintenance of all general CANopen specifications for application layer, physical layer, and additional services and protocols. Releasing of all CANopen-related documents in the DS (Draft Standard) or public status.

Chairmen

Martin Rostan, Beckhoff

Group meetings

No events found.

Sub-group meetings

DateTimeGroupLocation
2019-01-17 10:00 - 12:00 SIG drives and motion control Webex conference

Minutes

Title Date Status Size Published Action
IG CANopen2015-12-10Minutes2.8 MiB2016-12-09Login
IG CANopen2016-12-13Minutes2.6 MiB2017-07-17Login
IG CANopen2017-12-12Minutes2.9 MiB2017-12-15Login

Specifications

Title Details
Status
Size
Published
Action
CiA 301 version 4.2.0CANopen application layer and communication profile
DescriptionThis specification specifies the CANopen application layer. This includes the data types, encoding rules and object dictionary objects as well as the CANopen communication services and protocols. In addition, this specification specifies the CANopen network management services and protocols. This specification specifies the CANopen communication profile, e.g. the physical layer, the predefined communication object identifier connection set, and the content of the Emergency, Timestamp, and Sync communication objects.
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public3.4 MiB2011-02-21Login
CiA 302-1 version 4.1.0CANopen additional application layer functions - Part 1: General definitions
DescriptionThis document defines additional services and functionalities that extend the services and functionalities of the CiA 301: CANopen — application layer and communication profile. These additional services and functionalities are not required for CANopen devices, but may be useful for certain types of networks. This includes network management, configuration and program download, network variables and process image, dynamic SDO management, network redundancy, and multi-level networking.
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DSP85 KiB2009-02-02Login
CiA 302-2 version 4.1.0CANopen additional application layer functions – Part 2: Network management
DescriptionThe definition of the network management includes the definition of the network startup behavior as well as definitions that are related to networks that operate without NMT master, networks with one CANopen device capable of the NMT master mode, and networks with more than one CANopen device capable of the NMT master mode (NMT flying master for higher availability). These definitions are intended to be an add-on to the CANopen application layer and communication profile (see /CiA301/).
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DSP1.5 MiB2009-02-02Login
CiA 302-3 version 4.1.0CANopen additional application layer functions – Part 3: Configuration and program download
DescriptionThis document defines objects and file formats for the configuration manager and for program download and control.
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DSP331 KiB2010-04-08Login
CiA 302-4 version 4.1.0CANopen additional application layer functions – Part 4: Network variables and process image
DescriptionIn 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".
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DSP162 KiB2009-02-02Login
CiA 302-5 version 4.1.0CANopen additional application layer functions – Part 5: SDO manager
DescriptionCANopen 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).
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DSP397 KiB2009-02-02Login
CiA 302-6 version 4.1.0CANopen additional application layer functions – Part 6: Network redundancy
DescriptionThe network redundancy is intended to be an add-on to the CANopen application layer and communication profile (see /CiA301/). It is assumed, that a CANopen device with the need of safety-critical and mission-critical communication can use all the features defined by the communication profile. Safety-critical and mission-critical communication is achieved by the underlying structure defined in this specification. The manufacturer and the system integrator shall take care, that the hardware and software of the CANopen device support the safety-critical and mission-critical function and that the CANopen device is operated within its safety-critical and mission-critical limits.
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DSP390 KiB2009-02-02Login
CiA 302-7 version 1.0.0CANopen additional application layer functions – Part 7: Multi-level networking
DescriptionThis 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.
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DSP698 KiB2009-02-02Login
CiA 302-8 version 0.0.4CANopen additional application layer functions – Part 8: Project management parameters
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WD371 KiB2016-08-11Login
CiA 302-9 version 1.0.0CANopen additional application layer functions – Part 9: Energy saving
DescriptionThis series of specifications defines additional CANopen services and functionalities, especially related to dedicated application requirements. It comprises the following parts. This part of the additional application layer function documents specifies the energy saving modes and the related communication parameters for energy saving.
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DSP169 KiB2014-03-27Login
CiA 303-2 version 1.5.0Recommendation - Part 2: Representation of SI units and prefixes
DescriptionThis document provides recommendation on how to represent the international system of units and prefixes in CANopen device, interface and application profiles.
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public120 KiB2012-04-27Login
CiA 303-3 version 1.4.0Recommendation - Part 3: Indicator specification
DescriptionThis recommendation describes the communication-related indicators. Additional application- related indicators are either described in the appropriate device profile or are manufacturer- specific.
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public124 KiB2012-04-27Login
CiA 303-1 version 1.9.0Recommendation - Part 1: Cabling and connector pin assignment
DescriptionThis document provides device and network design recommendations for CANopen physical layer. Additionally, it provides the guidelines for selecting cables and connectors for use in CANopen systems.
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public563 KiB2017-09-18Login
CiA 305 version 3.0.0CANopen layer setting services (LSS) and protocols
DescriptionThis document specifies the layer setting services (LSS) and protocols for CANopen. These services and protocols are used to inquire or to change the settings of three parameters of the physical layer, data link layer, and application layer on a CANopen device with LSS slave capability by a CANopen device with LSS master capability via the CAN network. The following parameters may be inquired or changed: Node-ID of the CANopen device, bit timing parameters of the physical layer (bit rate), LSS address compliant to the identity object (1018h).
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DSP2.0 MiB2013-05-08Login
CiA 306-1 version 1.3.7CANopen electronic device description - Part 1: Electronic Data Sheet and Device Configuration File
DescriptionThis set of documents specifies the electronic description of CANopen devices in harmonized file formats. These electronic device descriptions are typically required to either configure CANopen device parameters or for testing and diagnostic purposes. This set of documents consists of the three parts. NOTE: The specification of an XML-based CANopen device description is not in the scope of this set of documents. This document specifies the electronic data sheets as well as the device configuration files.
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DSP223 KiB2014-03-18Login
CiA 306-2 version 1.0.4CANopen electronic device description - Part 2: Profile database specification
DescriptionThe 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. NOTE: The specification of an XML-based CANopen device description is not in the scope of this set of documents. This part specifies the CANopen profile database format, which is used by tools (e.g. EDS file checker).
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DSP356 KiB2014-03-24Login
CiA 306-3 version 1.0.0CANopen electronic device description - Part 3: Network variable handling and tool integration
DescriptionThe 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. This part specifies mechanisms with regard to the handling of network variables, which are specified in /CiA302-4/. In addition recommendations for tool integration are provided. NOTE: This document contains parts of the withdrawn document CiA 405.
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DSP153 KiB2014-03-18Login
CiA 306 version 1.3.0CANopen electronic data sheet specification
DescriptionThe 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.
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public179 KiB2005-01-01Login
CiA 306-1 version 1.3.12CANopen electronic device description – Part 1: Electronic data sheet and device configuration file
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WD590 KiB2018-10-16Login
CiA 306-2 version 1.1.2CANopen electronic device description – Part 2: Profile database specification
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WD524 KiB2018-10-16Login
CiA 306-3 version 1.1.3CANopen electronic device description – Part 3: Network variable handling and tool integration
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WD378 KiB2018-10-16Login
CiA 308 version 1.0.1Technical Report – Performance measurement basics
DescriptionCANopen 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 objects 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.
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public382 KiB2006-01-24Login
CiA 309-4 version 1.0.0CANopen integration in PROFINET IO - Part 4: Amendment 7 to Fieldbus Integration into PROFINET IO
DescriptionThis 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.
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DSP1.1 MiB2011-03-01Login
CiA 309-1 version 2.0.0CANopen access from other networks - Part 1: General principles and services
DescriptionThis 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 1 specifies the network access services provided by a CiA 309 gateway device that give one CiA 309 network device (e.g. PLC or PC application) connected through TCP/IP or other protocols (based on Ethernet, remote access services, or serial links) access to devices attached to CANopen networks. The description of the transport protocol between the CiA 309 gateway device and the CiA 309 network devices using the services specified in this document is not in the scope of this specification part.
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public369 KiB2015-07-30Login
CiA 309-2 version 1.1.0CANopen access from other networks - Part 2: Modbus/TCP mapping
DescriptionThis specification specifies the services and protocols to interface CANopen networks to a TCP/IP- based network. This set of specifications is organized as follows: Part 1: General principles and services, Part 2: Modbus/TCP mapping, Part 3: ASCII mapping. This part of the specification defines the mapping of services defined in /CiA 309-1/ on Mod- bus/TCP. It is intended to access CANopen devices via a gateway device from a remotely Mod- bus/TCP connected device (e.g. PLC or tool).
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public0.9 MiB2006-12-12Login
CiA 309-2 version 1.3.0CANopen access from other networks - Part 2: Modbus/TCP mapping
DescriptionThis 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).
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DS1.1 MiB2015-07-30Login
CiA 309-3 version 1.1.0CANopen access from other networks - Part 3: Mapping
DescriptionThis specification specifies the services and protocols to interface CANopen networks to a TCP/IP- based network. This set of specifications is organized as follows: Part 1: General principles and services, Part 2: Modbus/TCP mapping, Part 3: ASCII mapping. This part of the specification defines the ASCII-based communication syntax for CANopen gateway devices. The aim is to provide a lightweight counterpart to solutions with CORBA or OPC.
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public107 KiB2006-12-12Login
CiA 309-3 version 2.1.0CANopen access from other networks - Part 3: ASCII mapping
DescriptionThis 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 3 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.
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DS482 KiB2015-07-30Login
CiA 309-1 version 2.0.1CANopen access from other networks – Part 1: General principles and services
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WD424 KiB2017-01-09Login
CiA 309-3 version 2.1.6CANopen Access from other networks – Part 3: ASCII mapping
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WD682 KiB2017-10-11Login
CiA 309-5 version 0.0.9CANopen access from other networks – Part 5: HTTP request mapping
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WD1.5 MiB2018-01-17Login
CiA 310-1 version 1.1.0CANopen conformance test plan – Part 1: CiA 301 testing
DescriptionConformance 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.
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DSP765 KiB2009-02-04Login
CiA 311 version 1.1.0CANopen device description – XML schema definition
DescriptionThis 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.
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DSP673 KiB2011-08-10Login
CiA 312-1 version 1.0.0CANopen profile conformance test plan – Part 1: General definitions
DescriptionThe 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.
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DSP76 KiB2008-04-11Login
CiA 312-2 version 1.0.0CANopen profile conformance test plan – Part 2: Generic I/O modules
DescriptionThis 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.
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DSP346 KiB2008-04-11Login
CiA 312-4 version 1.0.0CANopen profile conformance test plan – Part 4: Contrast media injectors
DescriptionThis 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 addon 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.
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DSP0.9 MiB2009-01-16Login
CiA 312-4 version 1.0.1CANopen profile conformance test plan – Part 4: Contrast media injectors
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WD1.5 MiB2012-05-20Login
CiA 312-5 version 0.0.4CANopen device profile conformance test plan - Part 5: Special purpose car add-on device
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WD1.8 MiB2016-06-06Login
CiA 312-6 version 0.0.1CANopen device profile conformance test plan - Part 6: SIIS level-2 devices
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WDP719 KiB2010-05-10Login
CiA 312-7 version 0.0.3CANopen conformance test plan - Part 7: Pedelec Profile 1
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WD468 KiB2018-08-30Login
CiA 314 version 1.0.0Accessing CANopen services in devices programmable in IEC 61131-3 languages
DescriptionThis 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).
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DSP363 KiB2015-10-09Login
CiA 315 version 1.0.0CANopen generic frame – for wireless tunneling of CAN messages and for transfer of diagnostic data
DescriptionThis specification specifies the generic frame for the transparent transmission of CAN messages on a wireless network.
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DSP441 KiB2011-08-09Login
CiA 416-1 version 2.0.0CANopen application profile for building door control – Part 1: General definitions, start-up procedures and system security
DescriptionThe CANopen application profile for building door control consists of several parts: Part 1: General definitions, start-up procedures and system security, Part 2: Virtual devices overview, Part 3: Pre-defined communication objects and application object specification. These specifications represent the CANopen application profile for building door control. It describes the interaction of e.g. door locking status, key cylinder, handle, alarms, system parameters, keypads and many more. Each of those properties is realized as a single virtual device.
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DSP536 KiB2007-08-28Login
CiA 416-2 version 2.0.0CANopen application profile for building door control – Part 2: Virtual devices overview
DescriptionThis part of the application profile gives an overview of the virtual devices.
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DSP292 KiB2007-08-28Login
CiA 416-3 version 2.0.0CANopen application profile for building door control – Part 3: Pre-defined communication objects and application object specification
DescriptionThis part of the application profile pre-defines the application objects of the physical and virtual devices in detail.
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DSP1.5 MiB2007-08-28Login
CiA 318 version 1.0.0CANopen integration to RTC environment
DescriptionThis 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 RTCCANopen manager and the ProxyRTCs system integration.
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DSP565 KiB2012-02-10Login
CiA 319 version 1.0.0CANopen implementation and configuration guideline for safety-related devices
DescriptionThis framework provides implementation and configuration guidelines for devices implementing communication services as specified in EN 50325-5 (CANopen Safety). It contains a framework about the procedure to configure safety-related parameters and to proof the authentication of the device to be configured. Additionally, it contains a framework for implementing the configuration signature and valid parameters in CANopen device and application profiles.
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DSP229 KiB2014-09-02Login
CiA 320 version 1.0.0CANopen services and protocols for sleep and wake-up handling
DescriptionThis 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.
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DSP597 KiB2018-03-14Login
CiA 1301 version 1.0.0Application layer and communication profile
DescriptionThis document specifies the CANopen FD application layer. 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. This document also specifies the CANopen FD communication profile, e.g. the physical layer, the pre-defined communication object identifier connection set, and the content of the EMCY, TIME, and SYNC communication objects.
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DSP2.2 MiB2017-09-28Login
CiA 1302-1 version 0.0.2CANopen FD Additional application layer services - Part 1: General definitions
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WD124 KiB2018-12-07Login
CiA 1305 version 0.0.4CANopen FD layer setting services (LSS) and protocols
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WD3.4 MiB2018-07-17Login