DescriptionThis 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.

DescriptionThis 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.

DescriptionThis specification represents the CANopen device profile for generic digital and analogue input and output modules. Devices compliant to this specification 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. In the appendices, some specific I/O devices are defined.

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DescriptionThis 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 1 specifies the mapping of the CiA 402 profile onto the generic power drive system (PDS) interface as defined in IEC 61800-7-1.

DescriptionThis 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 6: CANopen FD PDO mapping. Part 2 specifies the basic drive and additional application functional elements as defined in IEC 61800-7-201. This includes the specification of drive operation modes and application data for such power drive systems as frequency converters, servo controllers, or stepper motor controllers. It includes the definition of real-time control objects as well as of configuration, adjustment, identification and network management objects. There is also defined the PDS finite state automaton (FSA), which may be controlled externally by a control device communicating via a communication system to the drive device.

DescriptionThis 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 3 specifies the CANopen PDO mapping as defined in IEC 61800-7-301. In particular, the process data object (PDO) communication and mapping parameters are defined. In addition, this specificaton defines the PDO mapping attribute for all objects defined in the CiA 402 drive profile.

DescriptionThis 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, servocontrollers, 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.

DescriptionThis 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, servocontrollers, 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.

DescriptionThis 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, servocontrollers, 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 6: CANopen FD PDO mapping. This part specifies the CANopen FD mapping for frequency converters, servo drives and stepper motors as well as for multiple-axes systems.

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DescriptionThis 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.

DescriptionThis 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. This part specifies the additional objects needed for EUROMAP 75 measuring amplifiers parameters and EUROMAP 66 heating/cooling device parameters.

DescriptionThis 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.

DescriptionThis document specifies the mapping of CiA 406 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.

DescriptionThis document represents the CANopen device profile for incremental and absolute, linear and rotary encoders. Besides position, velocity, acceleration, and jerk output possibility complete cam functionality is covered. In addition, it is possible to handle multi-sensors through one CANopen device. All the above mentioned devices use communication techniques, which conform to those described in the CANopen application layer and communication profile specification /CiA301/. This document should be consulted in parallel to this profile.

DescriptionThis 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).

DescriptionThis document specifies the mapping of CiA 406 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.

DescriptionThis 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.

DescriptionThis profile describes the functionality of interconnectable proportional valves, hydrostatic pumps and hydrostatic transmissions. The document is based on the profile “Fluid Power Technology”, version 1.5 released by VDMA Verband Deutscher Maschinen- und Anlagenbau e.V. Frankfurt/Main, Germany/VDMAPROP/. The device profile has been defined for hydraulic proportional valves, hydrostatic pumps and hydrostatic transmissions. It can as well be applied on pneumatic devices.

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

DescriptionThis profile specifies the CANopen interface for one- and two-axis inclinometers. This sensor interface provides optionally also temperature, speed, acceleration, and jerk process values. The specification includes optional CANopen safety-communication interface compliant to safety integrity levels (SIL) as defined in IEC 61508.

DescriptionThis 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.

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DescriptionThis 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.

DescriptionThis 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.

DescriptionThe 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.

DescriptionThis 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.

DescriptionThis 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.

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

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

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

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

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DescriptionThe 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.

DescriptionPart 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’.

DescriptionThe CANopen sensor system application profile for road construction and earth moving machines specifies the communication interface for sensors as well as the sensor control unit. The profile is suitable for a broad range of machine types (e.g. paver, compactor, grader, dozer, mill, heater and truck).

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.

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

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

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DescriptionThis 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. 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.

DescriptionThis 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. 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.

DescriptionThis 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. This part of the application profile specifies pre-definitions for communication objects. This sub-part specifies in detail the communication and mapping behavior of the PDOs for the lift 1 application.

DescriptionThis 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. This part specifies in detail the used process data, configuration parameter, and diagnostic information represented in the object dictionary for the lift 1 application.

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

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

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

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

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DescriptionThis 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.

DescriptionThis 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.

DescriptionThe 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.

DescriptionThe 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.

DescriptionThe 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.

DescriptionThe 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.

DescriptionThe 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.

DescriptionThe 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.

DescriptionThis application profile defines the communication between virtual devices within locomotives, power cars as well as coaches. It is intended to use the application profile for urban and regional rail vehicle transportation system as well as long-distance rail vehicle transportation systems including high-speed trains. But it is not limited to these railway applications, e.g. it is also used in cargo train locomotives and cargo train wagons as well as other railway transportation systems, such as commuter trains, subway trains, etc.

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

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

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

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

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

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

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

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

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

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

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

DescriptionThis set of CANopen application profile specifications describes the CleANopen embedded body control network of municipal vehicles, e.g. refuse collecting trucks. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). It does not specify CANopen devices. The CleANopen application profile specifications consists of several parts: Part 1 provides the general definitions, Part 2 specifies the functionality of the virtual devices, Part 3 specifies the pre-defined PDOs and SDOs, Part 4 specifies the application objects. This part specifies the values and value range attribute of the application objects. It specifies also the object and data type attributes of the application objects.

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DescriptionThis CANopen application profile defines the communication between virtual devices within a rail vehicle power drive system. The power drive system shall be connected via a gateway device to the logical CANopen-based train vehicle control network as defined in CiA 421.

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

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

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

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

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

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

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

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

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

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

DescriptionThis part of the CANopen application profile rail vehicle door control system describes the rail door controller.

DescriptionThis part of the CANopen application profile for rail vehicle door control systems describes the door unit.

DescriptionThe 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.

DescriptionThis 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 is compliant to the CANopen framework for safety-related communication (EN 50325-5). The definition of SRDOs (safety-related data objects) is not in the scope of this document. 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.

DescriptionThis 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.

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DescriptionThis CANopen application profile defines the communication between virtual devices within a rail vehicle exterior lighting control system. The exterior lighting controller is optionally connected via a gateway device to the logical CANopen-based train vehicle control network as defined in CiA 421. The set of specifications is organized as follows: Part 1: General definitions, Part 2: Exterior lighting controller (ELC), Part 3: Exterior lighting unit (ELU). Devices compliant to this application profile uses communication techniques, which conform to those described in the CiA Draft Standard 301.

DescriptionThis part of the CANopen application profile rail vehicle exterior lighting describes the exterior lighting controller.

DescriptionThis part of the CANopen application profile for rail vehicle exterior lighting describes the exterior lighting unit.

DescriptionThis CANopen application profile defines the communication between virtual devices within a rail vehicle auxiliary operating system. The auxiliary operating system shall be connected via a gateway device to the logical CANopen-based train vehicle control network as defined in /CiA421/. The set of specifications is organized as follows: Part 1: General definitions, Part 2: Auxiliary operating system controller, Part 3: Power train cooling unit, Part 4: Coolant expansion tank unit, Part 5: Power train cooling fan control unit, Part 6: Engine pre-heating unit, Part 7: Hydrostatic signal interface unit, Part 8: Battery charger unit, Part 9: Generator unit. Devices compliant to this application profile uses communication techniques, which conform to those described in the CiA Draft Standard 301.

DescriptionThis part of the CANopen application profile for rail vehicle auxiliary operating systems describes the auxiliary operating system controller.

DescriptionThis part of the CANopen application profile for rail vehicle auxiliary operating systems describes the power train cooling control unit.

DescriptionThis part of the CANopen application profile for rail vehicle auxiliary operating systems describes the coolant expansion tank unit.

DescriptionThis part of the CANopen application profile railway auxiliary operating system describes the power train cooling fan control unit.

DescriptionThis part of the CANopen application profile for rail vehicle auxiliary operating systems describes the engine pre-heating unit.

DescriptionThis part of the CANopen application profile for rail vehicle auxiliary operating systems describes the hydrostatic signal interface unit.

DescriptionThis virtual device describes the generator unit, which is a part of the rail vehicle auxiliary operating system.

DescriptionThis CANopen application profile defines the communication between virtual devices within a rail vehicle interior lighting control system. The interior lighting controller is optionally connected via a gateway device to the logical CANopen-based train vehicle control network as defined in CiA 421. The set of specifications is organized as follows: Part 1: General definitions, Part 2: Interior lighting controller (ILC), Part 3: Interior lighting unit (ILU). Devices compliant to this application profile uses communication techniques, which conform to those described in the CiA Draft Standard 301.

DescriptionThis part of the CANopen application profile for rail vehicle interior lighting control describes the interior lighting controller.

DescriptionThis part of the CANopen application profile for rail vehicle interior lighting control describes the interior lighting unit.

DescriptionThis part of the CANopen device profiles for laboratory automation systems specifies the heating, cooling and shaking unit.

DescriptionThis part of the CANopen profiles for laboratory automation systems defines the CANopen interface for dilutor, dispenser and pump units. Based on the definitions given in CiA 434-1, this CANopen device profile specifies commands as well as parameters relevant for controlling dilutor, dispenser and pump units that are part of an automated laboratory system.

DescriptionThis set of device profiles for laboratory automation systems describes a master/slave-based communication between a laboratory automation master and several laboratory automation slaves (units). In addition to the general system structure, this part of CiA 434 defines a finite state machine (FSA) that is supported by all laboratory units, following the specification CiA 434. In addition, this part specifies two predefined control structures for laboratory units. On the one hand, the laboratory automation master can control the laboratory units via single operating commands. On the other hand this part provides a generic structure for a “pre-configurable work plan” that enables a quasi-autonomous laboratory unit operation, which is monitored by the laboratory master. The set of CANopen profiles for laboratory automation systems includes several parts: Part 1 describes general definitions, Part 2 defines the device profile for dilutor/dispenser/pump units, Part 3 defines the heating, cooling and shaking unit, Part 4 defines the device profile for pipette control units, Part 5 defines the device profile for multi axis control units, Part 6 defines the device profile for drive units, Part 7 defines the device profile for washing units, Part 8 defines the device profile for centrifuge units, Part 9 defines the device profile for stacker units, Part 10 defines the device profile for detection units. Devices compliant to these profiles use communication techniques, which conform to those defined in the CANopen application layer and communication profile (CiA 301). In addition, they may use communication techniques, which conform to those described in the set of specifications for additional application layer functions (CiA 302). These specifications should be consulted in parallel to these device profile specifications.

DescriptionThis application profile provides general definition as well as recommendations for using CANopen control networks on construction machineries. In addition, this application profile introduces the virtual control architecture on construction machineries, integrating the engine control system, the drivers’ desk, the sensor control system, the transmission control system, the fleet management control system as well as the control system for the superstructure respectively implement.

DescriptionThis application profile defines the CANopen interfaces for photovoltaic control systems. This includes interfaces to photovoltaic controller, photovoltaic inverter, wind direction sensor, temperature sensor, radiation sensor, energy (Wh) sensor, power (W) sensor, solar panel tracking system, etc. The specification comprises the following parts: Part 1: General definitions, Part 2: Pre-defined communication objects, Part 3: Detailed process data specification. This part defines the physical layer, the general system architecture, and some common communication parameter objects. It also defines, which process data and parameters are used by the virtual devices.

DescriptionThis application profile defines the CANopen interfaces for photovoltaic control systems. This includes interfaces to photovoltaic controller, photovoltaic inverter, wind direction sensor, temperature sensor, radiation sensor, energy (Wh) sensor, power (W) sensor, solar panel tracking system, etc. The specification comprises the following parts: Part 1: General definitions, Part 2: Pre-defined communication objects, Part 3: Detailed process data specification. This part of the application profile specifies the pre-defined communication objects.

DescriptionThis application profile defines the CANopen interfaces for photovoltaic control systems. This includes interfaces to photovoltaic controller, photovoltaic inverter, wind direction sensor, temperature sensor, radiation sensor, energy (Wh) sensor, power (W) sensor, solar panel tracking system, etc. The application profile specification consists of several parts: Part 1: General definitions, Part 2: Pre-defined communication objects, Part 3: Detailed process data specification. This part of the application profile specifies in detail the process data and parameters of the virtual devices.

DescriptionThis document specifies the CANopen profile for a sub-section of low-voltage switchgear devices: motor starters, soft starter and motor management starters. The specification is functional compatible with the international standard /IEC61915-2/.

DescriptionThis device profile specifies instruments and actuators devices for subsea measurement systems. Subsea instruments include simple pressure and temperature sensors as well as complex multi-purpose instruments such as multiphase flow meter. Subsea actuators include simple valves and valve controller units. The specification of the SIIS level-2 application master is not in the scope of this device profile.

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DescriptionThis document specifies the physical layer, and some common communication parameter objects.

DescriptionThis profile series specifies the CANopen interfaces for container-handling machine add-on devices such as spreaders for cranes and for straddle carriers. The specification comprises the following parts: Part 1: General definitions, Part 2: Spreader for crane, Part 3: Spreader for straddle carrier. Part 2 specifies the device profile for crane spreaders including process data and process data objects.

DescriptionThis profile series specifies the CANopen interfaces for container-handling machine add-on devices such as spreaders for cranes and for straddle carriers. The specification comprises the following parts: Part 1: General definitions, Part 2: Spreader for crane, Part 3: Spreader for straddle carrier. Part 3 specifies the device profile for straddle carrier spreaders including process data and process data objects.

DescriptionThis device profile specifies the CANopen interface for simple and intelligent radio frequency identification devices.

DescriptionThis profile defines the CANopen interface for gateways connecting AS-Interface circuits. One single CANopen logical device supports up to two AS-Interface circuits. The gateway implements AS-Interface master functionality.

DescriptionThis CANopen application profile specifies the CAN physical layer as well as application, configuration and diagnostic parameters for the add-on devices used in special-purpose passenger cars such as taximeter, roof bar, etc. The specification comprises the following parts: Part 1: General definitions, Part 2: Virtual device definition, Part 3: Detailed process data specification, Part 4: Pre-defined CAN-IDs and communication objects. This part defines the physical layer, the general system architecture, and some common communication parameter objects.

DescriptionThis CANopen application profile specifies the physical layer as well as application, configuration and diagnostic parameters for the add-on devices used in special-purpose passenger cars such as taximeter, roof bar, etc. The specification comprises the following parts: Part 1: General definitions, Part 2: Virtual device definition, Part 3: Detailed process data specification, Part 4: Pre-defined CAN-IDs and communication objects. This part defines the virtual devices. It also defines, which process data and parameters are used by the virtual devices.

DescriptionThis CANopen application profile specifies the CAN physical layer as well as application, configuration and diagnostic parameters for the add-on devices used in special-purpose passenger cars such as taximeter, roof bar, etc. The specification comprises the following parts: Part 1: General definitions, Part 2: Virtual device definition, Part 3: Detailed process data specification, Part 4: Pre-defined CAN-IDs and communication objects. This part specifies the pre-defined CAN-IDs and communication objects.

DescriptionThis CANopen application profile specifies the physical layer as well as application, configuration and diagnostic parameters for the add-on devices used in special-purpose passenger cars such as taximeter, roof bar, etc. The specification comprises the following parts: Part 1: General definitions, Part 2: Virtual device definition, Part 3: Detailed process data specification, Part 4: Pre-defined CAN-IDs and communication objects. This part specifies in detail the process data and parameters of the virtual devices.

DescriptionThis document specifies the application profile specific tests for CiA 447 devices. The tests include: Electronic data sheet-based verification of object dictionary entries; Application profile specific tests for power management, Layer Settings Services and Network Management States; Dynamic tests covering message timings and stress tests; Integration tests based on post analysis of trace recordings; Virtual device specific function tests. The document also references the test cases specified in the CiA 310 CANopen conformance test plan.

DescriptionThis profile specifies the CANopen interfaces for pump devices. The specification is based on the bus-independent profile developed by VDMA (German association of machine builders). It specifies interfaces for the following pump types: Generic pump, Liquid pump. The VDMA profile for vacuum and liquid pumps should be consulted in parallel with this profile.

DescriptionThis profile specifies the CANopen interface for drives controlled by programmable logic controllers (PLC) using PLCopen motion control. The main intention of this specification is to control the drive by means of one RPDO and one TPDO. The motion function block may be performed by the PLC or by the drive. This profile also specifies the CANopen interface for master-slave drive control according to PLCopen.

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DescriptionThe CANopen device profile power supply specifies the communication interface for AC/AC, DC/DC, AC/DC, and DC/AC converters. It is suitable for programmable and nonprogrammable power supply devices with single or multiple outputs that are voltage-, current-, or power-controlled.

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DescriptionThe CANopen application profile for EMSs specifies the communication interface for all virtual devices that may take part in energy management control application. Such energy management control applications may be implemented in e.g. light electric vehicles, robots, offshore parks, isolated farms, etc. The CANopen application profile for EMSs consists of the following parts: Part 1: General definitions, Part 2: Pre-defined communication parameters and general application objects, Part 3: Pre-defined PDO communication, Part 4: EMS controller, Part 5: Voltage converter unit, Part 6: Battery pack, Part 7: Motor control unit (under development), Part 8: Load monitoring unit (under development), Part 9: HMI unit (under development), Part 10: Security unit (under development), Part 11: Sensor unit (under development), Part 12: Gateway unit (under development), Part 13: Generator unit, Part 14: Load unit. This document represents the part 1 of the CANopen application profile for EMSs. Part 1 provides the general concept of the EMS.

DescriptionThis document represents the part 2 of the CANopen application profile for EMSs. Part 2 provides additional specifications with regard to the pre-defined communication objects as well as the general communication objects.

DescriptionThis document represents the part 3 of the CANopen application profile for EMSs. Part 3 specifies the application objects provided by the virtual device Energy management system controller (EBC).

DescriptionThis document represents the part 5 of the CANopen application profile for EMSs. Part 5 provides application objects provided by the AC-DC converter. The AC-DC converter may be implemented to realize a battery charger or a charger station.

DescriptionThis document represents the part 6 of the CANopen application profile for EMSs. Part 6 of the document specifies application objects provided by the battery pack.

DescriptionThis document represents the part 13 of the CANopen application profile for EMSs. Part 13 of the document specifies generator units such as a diesel engine, photovoltaic generator, winds turbine, etc. Generators shall be divided into two classes: Controllable and stochastic generator.

DescriptionThis document represents the part 14 of the CANopen application profile for EMSs. Part 14 of the document specifies load units such as lighting, electrical motor, radio, refrigerator, washing machine, etc. Loads shall be divided into three classes: controllable loads, influenceable loads and non-controllable loads.

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DescriptionThis document specifies the PDO communication and mapping parameters.

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

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

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

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

DescriptionThis specification represents the CANopen device profile for wireless transmission media based CANopen devices. Devices compliant to this specification use communication techniques, which conform to those described in the CANopen application layer and communication techniques, which conform to those described in the CANopen additional application layer functions. Such devices utilize a wireless transmission media instead of CAN.

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

DescriptionThis profile specifies the CANopen interface for on-board weighing devices. These devices are usable on trucks, off-highway or off-road vehicles (including train coaches). This profile consists of several parts: Part 1: General specification and functional overview; Part 2: Communication parameter specification; Part 3: Application parameter specification. This part of the profile describes the operating principles including the error handling. It specifies the CAN physical layer and the CAN data link layer. Additionally, it describes the CANopen application layer functionality.

DescriptionThis profile specifies the CANopen interface for on-board weighing devices. These devices are usable on trucks, off-highway or off-road vehicles (including train coaches). This profile consists of several parts: Part 1: General specification and functional overview; Part 2: Communication parameter specification; Part 3: Application parameter specification. This part of the profile specifies the mandatory and recommended communication parameters, including the parameter sets for PDO communication.

DescriptionThis profile specifies the CANopen interface for on-board weighing devices. These devices are usable on trucks, off-highway or off-road vehicles (including train coaches). This profile consists of several parts: Part 1: General specification and functional overview; Part 2: Communication parameter specification; Part 3: Application parameter specification. This part of the profile specifies the application parameter as process data, the diagnostic parameters and configuration parameters.

DescriptionThis document specifies the CANopen interface of a service robot controller device, which is compliant to the Robotic technology component (RTC) specification. The profile specifies the NMT master application and its object dictionary with NMT master parameter as well as CANopen device proxies representing the connected CANopen devices in the service robot controller device.

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DescriptionThis document specifies CANopen interface functionality, general communication parameters and Process Data Objects. It also specifies the lower-layer requirements.

DescriptionThis document specifies the CANopen interface for load cells. This includes process data and configuration parameters as well as PDO communication and mapping parameters.

DescriptionThis document specifies the CANopen interface for scales. This includes process data and configuration parameters as well as PDO communication and mapping parameters.

DescriptionThis document specifies the CANopen interface for human machine interface and indicators. This includes process data and configuration parameters as well as PDO communication and mapping parameters.

DescriptionThis profile 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.

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DescriptionThis 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.

DescriptionThis 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.

DescriptionThis 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.

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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.

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.

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 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.

DescriptionThis document provides the conformance test specification for devices implemented according to CiA 454, Part 1, 2, 3, 4, 5, and 6 version 2.0.