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Technical documents

CiA develops and publishes specifications, recommendations, guidelines, and application notes. Technical documents in public status can be downloaded free of charge by CiA-members and non-members after registration. Other documents (DSP or DS) are limited to members requiring a login (only for CiA-members). For more information, please send an email to webdownload(at)can-cia.org.

Title Details
Status
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Published
Action
CiA 102 version 3.0.0Physical layer for industrial applications
DescriptionThis specification describes the Controller Area Network physical layer for general industrial applications using transmission rates of up to 1 Mbit/s. In addition to the internationally standardized high-speed transceiver, it specifies a number of transmission rates in order to achieve a generic compatibility between CAN devices, in particular with CANopen devices. This specification is suitable for all CAN tools and generic interface devices (e.g. USB/CAN dongles) to be used for CAN-based industrial networks.
public96 KiB2010-02-05Login
CiA 103 version 1.0.1CANopen intrinsically safe capable applications – Physical layer specification
DescriptionThis specification describes an intrinsically safe capable physical layer application for CANopen. It may also be used for other CAN-based higher-layer protocols. This specification addresses a recommended application for implementing an intrinsically safe capable communication and power system. This document does not attempt to list the requirements by which an item of equipment may be certified as intrinsically safe nor does it require equipment to be intrinsically safe. Rather, it seeks to exclude conditions or situations that would prevent IS certification. Many parameters are selected by the developers to provide a baseline for calculation. It does restrict other implementations from implementing their own selections. NOTE: The wire medium specification provides the option of intrinsically safe power via the bus conductors.
public429 KiB2016-08-02Login
CiA 150 version 1.1.0, CiA 205-1+2 addendumCAN power management layer specification
DescriptionThis document specifies facilities and services of a Power Management Layer protocol entity on the CAN bus allowing significant reduction of power consumption in CAN networks by the introduction of the so-called network standby capability. The power reduction facilities of current CAN controller hardware designs by using the sleep mode, which can be recognized as a de-facto standard; are supported for usage under all higher layer protocols during an internal Power Management Layer IDLE state.
public362 KiB1997-05-01Login
CiA 201-207 version 1.1.0CAN Application Layer for industrial applications
DescriptionThis document contains a description of the CAN Reference Model. This document is part of a set of documents that standardize the CAN Application Layer for Industrial Applications.
public3.0 MiB1996-02-01Login
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.
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.
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/).
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.
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".
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).
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.
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.
DSP698 KiB2009-02-02Login
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.
DSP169 KiB2014-03-27Login
CiA 303-1 version 1.8.0Recommendation - Part 1: Cabling and connector pin assignment
DescriptionThis document recommends cabling and pin assignment of bus connectors for CANopen-based systems. Additionally it provides recommendations for the naming conventions for the bus lines, ground lines and shield connections.
public703 KiB2012-04-27Login
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.
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.
public124 KiB2012-04-27Login
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).
DSP2.0 MiB2013-05-08Login
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.
public179 KiB2005-01-01Login
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.
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).
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.
DSP153 KiB2014-03-18Login
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.
public382 KiB2006-01-24Login
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.
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).
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).
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.
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.
DS482 KiB2015-07-30Login
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.
DSP1.1 MiB2011-03-01Login
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.
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.
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.
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.
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.
DSP0.9 MiB2009-01-16Login
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).
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.
DSP441 KiB2011-08-09Login
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.
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.
DSP229 KiB2014-09-02Login
CiA 401 version 3.0.0CANopen device profile for generic I/O modules
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.
public1.0 MiB2008-06-03Login
CiA 401-1 version 3.1.0CANopen Profile for I/O devices – Part 1: Generic I/O modules
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.
DSP0.9 MiB2013-02-12Login
CiA 401-2 version 3.1.0CANopen profile for I/O devices – Part 2: Joysticks
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.
DSP219 KiB2013-02-12Login
CiA 402-1 version 4.0.0CANopen device profile for drives and motion control – Part 1: General definitions
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 1 specifies the mapping of the CiA 402 profile onto the generic power drive system (PDS) interface as defined in IEC 61800-7-1.
DSP184 KiB2016-03-01Login
CiA 402-2 version 4.0.0CANopen device profile for drives and motion control – Part 2: Operation modes and application data
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 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.
DSP3.5 MiB2016-03-01Login
CiA 402-3 version 4.0.0CANopen device profile for drives and motion control – Part 3: PDO mapping
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 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.
DSP592 KiB2016-03-01Login
CiA 402-4 version 1.0.0CANopen device profile for drives and motion control – Part 4: Safety functionality
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.
DSP2.4 MiB2015-12-02Login
CiA 402-5 version 1.0.0CANopen device profile for drives and motion control – Part 5: PDO mapping superset
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.
DSP174 KiB2014-01-31Login
CiA 402-6 version 1.0.0CANopen device profile for drives and motion control – Part 6: CANopen FD PDO mapping
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.
DSP554 KiB2016-10-10Login
CiA 404 version 1.2.0CANopen device profile for measuring devices and closed-loop controllers
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.
public1.7 MiB2002-05-15Login
CiA 404-1 version 2.1.0CANopen device profile for measuring devices and closed-loop controllers – Part 1: Generic objects and generic PDO mapping
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.
DSP1.3 MiB2016-07-19Login
CiA 404-2 version 2.0.0CANopen device profile for measuring devices and closed-loop controllers – Part 2: EUROMAP implementation
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.
DSP175 KiB2013-08-01Login
CiA 406 version 3.2.0CANopen device profile for encoders
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.
public533 KiB2006-12-18Login
CiA 406 version 4.0.2CANopen device profile for encoders
DescriptionThis CANopen device profile 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. This device profile specifies rotary encoder CAM parameters as well. This document also specifies CANopen Safety parameters such as Safety position and Safety speed for encoders with CANopen Safety functionality (see EN 50325-5). All the above-mentioned encoders shall use communication techniques, which are conform to those described in the CANopen application layer and communication profile specification for CANopen Safety protocol.
DSP1.5 MiB2016-08-18Login
CiA 408 version 1.5.2CANopen device profile for fluid power technology proportional valves and hydrostatic transmissions
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.
public2.8 MiB2005-01-01Login
CiA 410 version 1.3.0CANopen device profile for inclinometer
DescriptionThis specification represents the CANopen device profile for one- and two-axis inclinometers.
public194 KiB2010-02-23Login
CiA 410 version 2.0.0CANopen device profile for inclinometer
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.
DSP0.9 MiB2014-03-25Login
CiA 412-1 version 1.0.0CANopen profiles for medical devices - Part 1: General definitions
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.
public159 KiB2005-12-31Login
CiA 412-2 version 1.0.0CANopen profiles for medical devices - Part 2: Automatic X-ray collimator
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.
public658 KiB2005-12-31Login
CiA 412-6 version 1.1.0CANopen profiles for medical devices - Part 6: Dose measurement system
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.
public0.9 MiB2008-08-27Login
CiA 413-1 version 3.0.0CANopen device profile for truck gateways – Part 1: General definitions
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.
DSP138 KiB2011-11-24Login
CiA 413-2 version 3.0.0CANopen device profile for truck gateways – Part 2: Brake and running gear devices
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.
DSP857 KiB2011-11-24Login
CiA 413-3 version 3.0.0CANopen device profile for truck gateways – Part 3: Other than brake and running gear devices
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.
DSP1.2 MiB2011-11-24Login
CiA 413-5 version 1.0.0CANopen device profile for truck gateways – Part 5: Application objects for superstructure
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.
DSP272 KiB2003-12-31Login
CiA 413-6 version 1.0.0CANopen device profile for truck gateways – Part 6: Framework for J1939-based networks
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.
DSP105 KiB2003-12-31Login
CiA 413-8 version 1.0.0CANopen device profile for truck gateways – Part 8: Framework for HMI control
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.
DSP167 KiB2011-11-24Login
CiA 414-1 version 1.1.0CANopen device profiles for weaving machines - Part 1: General definitions
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.
public92 KiB2007-06-18Login
CiA 414-2 version 1.1.0CANopen device profiles for weaving machines - Part 2: Feeders
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’.
public243 KiB2007-06-18Login
CiA 415 version 2.2.0CANopen application profile for sensor systems – In road construction and earth moving machines
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). NOTE: The first version of this profile has been jointly developed with the OSYRIS (Open System for Road Information Support) consortium (www.osyris.org) and the European Asphalt Pavement Association (EAPA).
DSP788 KiB2009-04-22Login
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.
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.
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.
DSP1.5 MiB2007-08-28Login
CiA 417-1 version 2.0.0CANopen application profile for lift control systems – Part 1: General definitions
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.
public210 KiB2011-02-02Login
CiA 417-1 version 2.2.0CANopen application profile for lift control systems – Part 1: General definitions
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: 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 CAN physical layer as well as the error handling, besides some general definitions such as general virtual device descriptions. Additionally, some network architecture examples are given.
DSP565 KiB2015-12-07Login
CiA 417-2 version 2.0.0CANopen application profile for lift control systems – Part 2: Virtual device definitions
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.
public340 KiB2011-02-02Login
CiA 417-2 version 2.2.0CANopen application profile for lift control systems – Part 2: Virtual device definitions
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: Part 1 provides general definitions. Part 2 specifies the functionality of the virtual devices. Part 3 specifies the pre-defined PDOs. Part 4 specifies the application objects. This part specifies for a single lift application (lift 1) the general communication parameter. It specifies also for each virtual device the supported application objects including the category, access, and default value attributes. It describes the supported Process Data Objects (PDO). In addition, the PDOs for the other lift application 2 to 8 are assigned correspondingly.
DSP196 KiB2015-12-07Login
CiA 417-3 version 2.0.0CANopen application profile for lift control systems – Part 3-1: Pre-defined PDOs for lift application 1
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.
public818 KiB2011-02-02Login
CiA 417-3-1 version 2.1.0CANopen application profile for lift control systems – Part 3-1: Pre-defined PDOs for lift application 1
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: Part 1 provides general definitions. Part 2 specifies the functionality of the virtual devices. Part 3 specifies the pre-defined PDOs. Part 4 specifies the application objects. This part of the application profile specifies pre-definitions for communication objects. This sub-part specifies in detail the communication and mapping behavior of the PDOs for the lift 1 application.
DSP529 KiB2015-12-07Login
CiA 417-4 version 2.0.0CANopen application profile for lift control systems – Part 4: Detailed application object specification
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.
public839 KiB2011-02-02Login
CiA 417-4 version 2.2.0CANopen application profile for lift control systems – Part 4: Detailed application object specification
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: Part 1 provides general definitions. Part 2 specifies the functionality of the virtual devices. Part 3 specifies the pre-defined PDOs. Part 4 specifies the application objects. This part specifies in detail the used process data, configuration parameter, and diagnostic information represented in the object dictionary for the lift 1 application.
DSP1.2 MiB2015-12-07Login
CiA 418 version 1.2.0CANopen device profile for battery modules
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.
public289 KiB2012-04-27Login
CiA 419 version 1.2.0CANopen device profile for battery chargers
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.
public197 KiB2012-04-27Login
CiA 420-1 version 3.2.0CANopen profiles for extruder downstream devices – Part 1: General definitions
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
public525 KiB2015-05-07Login
CiA 420-2 version 3.1.0CANopen profiles for extruder downstream devices – Part 2: Puller
DescriptionThe CANopen application profile for extruder downstream devices includes several parts. 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.
public187 KiB2015-05-07Login
CiA 420-3 version 3.1.0CANopen profiles for extruder downstream devices – Part 3: Corrugator
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.
public175 KiB2015-05-07Login
CiA 420-4 version 3.1.0CANopen profiles for extruder downstream devices – Part 4: Saw
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.
public179 KiB2015-05-07Login
CiA 420-5 version 2.1.0CANopen profiles for extruder downstream devices – Part 5: Simple and advanced co-extruder
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.
public197 KiB2015-05-07Login
CiA 420-6 version 1.1.0CANopen profiles for extruder downstream devices – Part 6: Calibration-table
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.
public212 KiB2015-05-07Login
CiA 421-1 version 1.0.0CANopen application profile for train vehicle control networks – Part 1: General definitions
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.
DSP198 KiB2006-08-18Login
CiA 421-4 version 1.0.0CANopen application profile for train vehicle control networks – Part 4: Auxillary operating system
DescriptionThis part of the CANopen application profile for train control networks describes the CANopen interface of the virtual rail vehicle auxiliary operating system.
DSP203 KiB2006-08-18Login
CiA 421-5 version 1.0.0CANopen application profile for train vehicle control networks – Part 5: Power (drive) 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.
DSP1.2 MiB2006-08-18Login
CiA 421-9 version 1.0.0CANopen application profile for train vehicle control networks – Part 9: Vehicle linkage device
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.
DSP139 KiB2008-04-17Login
CiA 421-10 version 1.0.0n/a
DescriptionThis part of the CANopen application profile for rail vehicles describes the CANopen interface of the virtual exterior lighting system.
DSP171 KiB2006-08-18Login
CiA 421-11 version 1.0.0CANopen application profile for train vehicle control networks – Part 11: Interior lighting system
DescriptionThis part of the CANopen application profile for rail vehicles describes the CANopen interface of the virtual interior lighting system.
DSP135 KiB2006-08-18Login
CiA 421-12 version 1.0.0CANopen application profile for train vehicle control networks – Part 12: Door control system
DescriptionThis part of the CANopen application profile for rail vehicles describes the CANopen interface of the virtual door control system.
DSP217 KiB2006-08-18Login
CiA 422-1 version 2.0.0CANopen application profile for municipal vehicles – Part 1: General definitions
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 provides some general definitions of CleANopen and specifies the CAN physical layer as well as the error handling.
DS196 KiB2010-12-22Login
CiA 422-2 version 2.0.0CANopen application profile for municipal vehicles – Part 2: Virtual device functionality
DescriptionThis 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).
DS235 KiB2010-12-22Login
CiA 422-3-1 version 2.0.0CANopen application profile for municipal vehicles – Part 3-1: Pre-defined TPDOs
DescriptionThis sub-part of part 3 specifies the communication and mapping parameter sets of the predefined TPDOs.
DS2.6 MiB2010-12-22Login
CiA 422-3-2 version 2.0.0CANopen application profile for municipal vehicles – Part 3-2: Pre-defined RPDOs
Descriptionn/a
DS1.6 MiB2010-12-22Login
CiA 422-3-3 version 2.0.0CANopen application profile for municipal vehicles – Part 3-3: Pre-defined SDOs
DescriptionThis sub-part of part 3 specifies the pre-defined additional SDO clients and servers.
DS413 KiB2010-12-22Login
CiA 422-4 version 2.0.0CANopen application profile for municipal vehicles – Part 4: Application objects
DescriptionThis 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.
DS1.3 MiB2010-12-22Login
CiA 423-1 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 1: General definitions
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.
DSP89 KiB2006-08-18Login
CiA 423-2 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 2: Traction controller
DescriptionThis part of the CANopen application profile for rail vehicles power drive systems describes the traction controller.
DSP545 KiB2006-08-18Login
CiA 423-3 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 3: Diesel engine control unit
DescriptionThis part of the CANopen application profile for rail vehicle power drive systems describes the diesel engine control unit.
DSP404 KiB2006-08-18Login
CiA 423-4 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 4: Transmission control unit
DescriptionThis part of the CANopen application profile for rail vehicle power drive systems describes the transmission control unit.
DSP165 KiB2006-08-18Login
CiA 423-5 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 5: Diesel engine safety control unit
DescriptionThis part of the CANopen application profile for rail vehicle power drive systems describes the diesel engine safety control unit.
DSP119 KiB2006-08-18Login
CiA 423-6 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 6: Speed sensor unit
DescriptionThis part of the CANopen application profile for rail vehicle power drive systems describes the speed sensor unit.
DSP113 KiB2006-08-18Login
CiA 423-7 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 7: Diesel engine signal 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.
DSP250 KiB2006-08-18Login
CiA 423-10 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 10: Particle filters control unit
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.
DSP198 KiB2006-08-18Login
CiA 423-11 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 11: Starter unit
DescriptionThis part of the CANopen application profile for rail vehicle power drive systems describes the starter unit.
DSP95 KiB2006-08-18Login
CiA 423-12 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 12: Oil refill unit
DescriptionThis part of the CANopen application profile for rail vehicle power drive systems describes the oil refill unit.
DSP111 KiB2006-08-18Login
CiA 424-1 version 1.0.0CANopen application profile for rail vehicle door control systems - Part 1: General definitions
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.
DSP114 KiB2006-08-18Login
CiA 424-2 version 1.0.0CANopen application profile for rail vehicle door control systems - Part 2: Door controller
DescriptionThis part of the CANopen application profile rail vehicle door control system describes the rail door controller.
DSP304 KiB2006-08-18Login
CiA 424-3 version 1.0.0CANopen application profile for rail vehicle door control systems – Part 3: Door unit
DescriptionThis part of the CANopen application profile for rail vehicle door control systems describes the door unit.
DSP182 KiB2006-08-18Login
CiA 425-1 version 2.1.0CANopen application profile for medical diagnostic add-on modules – Part 1: General definitions
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.
DS243 KiB2011-06-03Login
CiA 425-2 version 2.2.0CANopen application profile for medical diagnostic add-on modules – Part 2: Injector
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.
DS1.4 MiB2011-06-03Login
CiA 425-2 version 2.3.0CANopen application profile for medical diagnostic add-on modules – Part 2: Injector
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.
DSP1.1 MiB2013-07-10Login
CiA 426-1 version 1.0.0CANopen application profile for rail vehicle exterior lighting control – Part 1: General definitions
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.
DSP121 KiB2006-08-18Login
CiA 426-2 version 1.0.0CANopen application profile for rail vehicle exterior lighting control – Part 2: Exterior lighting controller
DescriptionThis part of the CANopen application profile rail vehicle exterior lighting describes the exterior lighting controller.
DSP168 KiB2006-08-18Login
CiA 426-3 version 1.0.0CANopen application profile for rail vehicle exterior lighting control – Part 3: Exterior lighting unit
DescriptionThis part of the CANopen application profile for rail vehicle exterior lighting describes the exterior lighting unit.
DSP280 KiB2006-08-18Login
CiA 430-1 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 1: General definitions
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.
DSP106 KiB2006-08-18Login
CiA 430-2 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 2: Auxiliary operating system controller
DescriptionThis part of the CANopen application profile for rail vehicle auxiliary operating systems describes the auxiliary operating system controller.
DSP198 KiB2006-08-18Login
CiA 430-3 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 3: Power train cooling control unit
DescriptionThis part of the CANopen application profile for rail vehicle auxiliary operating systems describes the power train cooling control unit.
DSP146 KiB2006-08-18Login
CiA 430-4 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 4: Coolant expansion tank unit
DescriptionThis part of the CANopen application profile for rail vehicle auxiliary operating systems describes the coolant expansion tank unit.
DSP103 KiB2006-08-18Login
CiA 430-5 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 5: Power train cooling fan control unit
DescriptionThis part of the CANopen application profile railway auxiliary operating system describes the power train cooling fan control unit.
DSP115 KiB2006-08-18Login
CiA 430-6 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 6: Engine pre-heating unit
DescriptionThis part of the CANopen application profile for rail vehicle auxiliary operating systems describes the engine pre-heating unit.
DSP118 KiB2006-08-18Login
CiA 430-7 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 7: Hydrostatic signal unit
DescriptionThis part of the CANopen application profile for rail vehicle auxiliary operating systems describes the hydrostatic signal interface unit.
DSP124 KiB2006-08-18Login
CiA 430-9 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 9: Generator unit
DescriptionThis virtual device describes the generator unit, which is a part of the rail vehicle auxiliary operating system.
DSP104 KiB2006-08-18Login
CiA 433-1 version 1.0.0CANopen application profile for rail vehicle interior lighting control - Part 1: General definitions
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.
DSP96 KiB2006-08-18Login
CiA 433-2 version 1.0.0CANopen application profile for rail vehicle interior lighting control - Part 2: Interior lighting controller
DescriptionThis part of the CANopen application profile for rail vehicle interior lighting control describes the interior lighting controller.
DSP129 KiB2006-08-18Login
CiA 433-3 version 1.0.0CANopen application profile for rail vehicle interior lighting control -Part 3: Interior lighting unit
DescriptionThis part of the CANopen application profile for rail vehicle interior lighting control describes the interior lighting unit.
DSP235 KiB2006-08-18Login
CiA 434-1 version 2.0.0CANopen profiles for laboratory automation systems – Part 1: General definitions
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 “preconfigurable 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.
DSP579 KiB2009-04-22Login
CiA 434-2 version 1.0.0CANopen profiles for laboratory automation systems – Part 2: CANopen device profile for dilutor, dispenser and pump units
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.
DSP574 KiB2010-06-30Login
CiA 434-3 version 1.0.0CANopen profiles for laboratory automation systems – Part 3: CANopen device profile for heating, cooling and shaking units
DescriptionThis part of the CANopen device profiles for laboratory automation systems specifies the heating, cooling and shaking unit.
DSP425 KiB2010-06-30Login
CiA 436-1 version 1.1.0CANopen application profile for construction machineries – Part 1: General definitions
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.
DSP392 KiB2010-06-30Login
CiA 437-1 version 1.0.0CANopen application profile for grid-based photovoltaic systems – Part 1: General definitions
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.
DSP541 KiB2008-01-10Login
CiA 437-2 version 1.0.0CANopen application profile for grid-based photovoltaic systems – Part 2: Pre-defined communication objects
DescriptionThis part of the application profile specifies the pre-defined communication objects.
DSP124 KiB2008-01-10Login
CiA 437-3 version 2.0.0CANopen application profile for grid-based photovoltaic systems – Part 3: Detailed process data specification
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.
DSP1.8 MiB2012-06-15Login
CiA 442 version 1.0.0CANopen profile for IEC 61915-2 compatible motor starters
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/. NOTE: In order to understand this profile it is necessary to read in advance the international standard /IEC61915-2/.
DSP196 KiB2012-03-23Login
CiA 443 version 3.0.1CANopen profile for SIIS level-2 devices
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. NOTE: This specification has been jointly developed with the SIIS (Subsea Instruments Interface Standardization) group. SIIS level-2 devices make use of this device profile specification.
DSP1.2 MiB2015-04-10Login
CiA 444-1 version 2.0.0CANopen profiles for container-handling machine add-on devices – Part 1: General definitions
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 comprisesthe following parts: Part 1: General definitions, Part 2: Spreader for crane, Part 3: Spreader for straddle carrier. Part 1 specifies the physical layer, and some common communication parameter objects.
DSP132 KiB2008-12-17Login
CiA 444-2 version 2.0.0CANopen profiles for container-handling machine add-on devices – Part 2: Spreader for crane
DescriptionThis part specifies the device profile for crane spreaders including process data and process data objects.
DSP444 KiB2012-06-14Login
CiA 444-3 version 2.0.0CANopen profiles for container-handling machine add-on devices – Part 3: Spreader for straddle carrier
DescriptionThis part specifies the device profile for straddle carrier spreaders including process data and process data objects.
DSP396 KiB2012-06-14Login
CiA 445 version 1.0.0CANopen device profile for RFID devices
DescriptionThis device profile specifies the CANopen interface for simple and intelligent radio frequency identification devices.
DSP0.9 MiB2007-08-23Login
CiA 446 version 1.0.0CANopen device profile for AS-Interface gateways
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.
DSP477 KiB2006-11-06Login
CiA 447-1 version 2.1.0CANopen application profile for special-purpose car add-on devices – Part 1: General definitions
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.
DSP0.9 MiB2015-12-14Login
CiA 447-2 version 2.1.0CANopen application profile for special-purpose car add-on devices – Part 2: Virtual device definition
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 virtual devices. It also defines, which process data and parameters are used by the virtual devices.
DSP179 KiB2015-12-14Login
CiA 447-3 version 2.1.0CANopen application profile for special-purpose car add-on devices – Part 3: Detailed process data specification
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 in detail the process data and parameters of the virtual devices.
DSP1.6 MiB2015-12-14Login
CiA 447-4 version 2.1.0CANopen application profile for special-purpose car add-on devices – Part 4: Pre-defined CAN-IDs and communication objects
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.
DSP234 KiB2015-12-14Login
CiA 450 version 1.0.0CANopen device profile for pumps
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.
DSP2.6 MiB2010-02-25Login
CiA 452 version 1.0.0CANopen device profile PLCopen motion control
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.
DSP358 KiB2010-08-31Login
CiA 453 version 1.1.0CANopen device profile for power supply
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.
DSP1.3 MiB2010-07-20Login
CiA 454-1 version 2.0.0CANopen application profile for energy management systems – Part 1: General definitions
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.
DSP1.2 MiB2014-06-17Login
CiA 454-2 version 2.0.0CANopen application profile for energy management systems – Part 2: Pre-defined communication parameters and general application objects
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.
DSP817 KiB2014-06-17Login
CiA 454-3 version 2.0.0CANopen application profile for energy management systems – Part 3: PDO communication
DescriptionThis document represents the part 3 of the CANopen application profile for EMSs. Part 3 provides the PDO communication and mapping parameters.
DSP533 KiB2014-06-17Login
CiA 454-4 version 2.0.0CANopen application profile for energy management systems – Part 4: EnergyBus controller (EBC)
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).
DSP176 KiB2014-06-17Login
CiA 454-5 version 2.0.0CANopen application profile for energy management systems – Part 5: Voltage converter
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.
DSP859 KiB2014-06-17Login
CiA 454-6 version 2.0.0CANopen application profile for energy management systems – Part 6: Battery pack
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.
DSP518 KiB2014-06-17Login
CiA 454-13 version 1.0.0CANopen application profile for energy management systems – Part 13: - Generator unit
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.
DSP383 KiB2014-06-17Login
CiA 454-14 version 1.0.0CANopen application profile for energy management systems – Part 14 - Load unit
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.
DSP330 KiB2014-06-17Login
CiA 455 version 1.0.0CANopen application profile for drilling machines
DescriptionThis specification describes the control application for drilling machines with special regard on positioning and tool control.
DSP806 KiB2010-06-30Login
CiA 456 version 1.0.0CANopen device profile for configurable network component
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.
DSP225 KiB2012-07-11Login
CiA 457 version 1.0.0CANopen device profile for wireless transmission media based CANopen devices
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.
DSP369 KiB2011-08-09Login
CiA 458 version 1.0.0CANopen device profile for energy measurements
DescriptionThis document specifies the CANopen interface for energy measuring devices. This includes energy consumption as well as energy production, in particular for energy recovering.
DSP306 KiB2013-09-09Login
CiA 459-1 version 1.0.0CANopen profile for on-board weighing devices – Part 1: General specification and functional overview
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. 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.
DSP423 KiB2012-10-02Login
CiA 459-2 version 1.0.0CANopen profile for on-board weighing devices – Part 2: Communication parameter specification
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. This part of the profile specifies the mandatory and recommended communication parameters, including the parameter sets for PDO communication.
DSP97 KiB2012-10-02Login
CiA 459-3 version 1.0.0CANopen profile for on-board weighing devices – Part 3: Application parameter specification
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. This part of the profile specifies the application parameter as process data, the diagnostic parameters and configuration parameters.
DSP379 KiB2012-10-02Login
CiA 460 version 1.0.0CANopen profile for service robot controller - Associated device and Device-RTC
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.
DSP249 KiB2012-02-10Login
CiA 461-1 version 1.0.0CANopen profile for weighing devices - Part 1: General definitions
DescriptionThis profile specifies CANopen interface for electronic weighing instruments such as load cells, scales and auxiliary devices as specific I/O modules like input panel or indicator. This CANopen profile for weighing devices consists of the following parts: Part 1: General definitions, Part 2: Device profile for load cells, Part 3: Device profile for scales, Part 4: Device profile for HMI or indicator. This part specifies general definitions. This includes the lower layer definitions as well as general communication parameters and application layer functionality.
DSP253 KiB2015-08-10Login
CiA 461-2 version 1.0.0CANopen profile for weighing devices - Part 2: Device profile for load cells
DescriptionThis profile specifies CANopen interface for electronic weighing instruments as load cells scales and auxiliary devices as specific I/O modules like input panel or indicator. This CANopen profile for weighing devices consists of the following parts: Part 1: General definitions, Part 2: Device profile for load cells, Part 3: Device profile for scales, Part 4: Device profile for HMI or indicator. This part specifies device profile for load cells. This includes process data and configuration parameters as well as PDO communication and mapping parameters.
DSP829 KiB2015-08-10Login
CiA 462 version 1.0.0CANopen device profile for item detection devices
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.
DSP0.9 MiB2016-05-30Login
CiA 601-1 version 1.0.0CAN FD Node and system design – Part 1: Physical interface implementation
DescriptionThis set of documents specifies and recommends the usage of CAN FD hardware implementations. It consists of the following parts: Part 1: Physical interface implementation, Part 2: Controller interface recommendation, Part 3: System design recommendation, Part 4: Ringing suppression. This part provides specifications and guidelines on the physical layer interface design for automotive electronic control units and non-automotive devices supporting the CAN FD data link layer as defined in ISO 11898-1 and the CAN high-speed physical layer as defined in the harmonized ISO 11898-2 standard, which includes the specification of high-speed transceivers with low-power mode (formerly known as ISO 11898-5) and/or with selective wake-up functionality (formerly known as ISO 11898-6).
DSP784 KiB2014-08-04Login
CiA 601-4 version 1.0.0CAN FD Node and system design – Part 4: Ringing suppression
DescriptionThis set of documents specifies and recommends the usage of CAN FD hardware implementations. It consists of the following parts: Part 1: CAN FD physical interface implementation, Part 2: CAN FD controller interface recommendation, Part 3: CAN FD system design recommendation, Part 4: CAN FD ringing suppression. This part specifies the ringing suppression physical layer based on ISO 11898-2 transceivers.
DSP361 KiB2015-12-18Login
CiA 602-2 version 1.0.0CAN FD for commercial vehicles – Part 2: Application layer
DescriptionThis series of documents specifies the in-vehicle communication between ECUs (electronic control units) for commercial vehicles based on the CAN FD data link layer as defined in ISO 11898-1. Commercial vehicles include trucks, heavy-duty trucks, buses as well as off-road and off-highway vehicles. The CAN FD for commercial vehicles specification series consists of the following parts: Part 1: Physical layer, Part 2: Application layer. This part specifies the application layer protocols based on the SAE J1939 surface vehicle recommended practice series. It includes Autosar compliant protocol data units, which comprises parameter groups as specified in SAE J1939-21 and SAE J1939-71 as well as an optional safety/security field.
DSP109 KiB2016-06-30Login
CiA 801 version 1.0.0CANopen automatic bit-rate detection
DescriptionThis technical report describes the recommended practice and gives application hints for implementing automatic bit-rate detection in CANopen devices. With the Layer Setting Services (LSS) it is possible to change the bit-rate in CANopen networks. However, this mechanism fails in certain situations. Some low-cost devices that do not support LSS at all could also benefit from the recommended automatic bit-rate detection method. This technical report discusses an approach for automatic bit-rate detection in CANopen networks. As introduction the possible solutions to detect an unknown bit-rate for CAN controllers (Software / Hardware) are presented. The technical report will focus on situations where automatic bit-rate detection fails (no traffic on the bus, error frames) and how to avoid these deadlocks.
public0.9 MiB2005-01-01Login
CiA 802 version 1.1.0CAN remote frames: Avoiding of usage
DescriptionThis application note provides recommendations for substituting CAN remote frames by other CANopen communication services. It should be regarded as a clear statement to avoid the usage of CAN remote frames.
public201 KiB2010-12-07Login
CiA 808 version 1.0.0CAnopen CiA 444 implementation guideline
DescriptionThis application note describes the recommended practice and gives application hints for implementing the connection of crane and spreader.
public219 KiB2007-02-09Login
CiA 810 version 1.0.0CANopen CiA 434 implementation guideline
DescriptionThis application note recommends and suggests how to implement and handle devices, which are compliant to CiA 434 profile family. The application note discusses the different modes of operation for laboratory automation slaves (LAS), the transfer of the commands to the LAS as well as the handling of the command parameter RAM (CPRAM). The purpose of this application note is to explain the major issues of specification CiA 434 standard part 1. This document is not normative but informative. In case of doubts always the specifications given in CiA 434 apply.
public1.0 MiB2010-03-24Login
CiA 812 version 1.0.0CANopen use cases for CiA 457 devices
DescriptionThis application note describes use cases CANopen devices support communication capabilities as specified in CiA 315 “CANopen Generic frame for wireless tunnelling of CAN messages and for transfer of diagnostic data”.
public230 KiB2011-08-09Login
CiA 814-1 version 1.0.0CANopen implementation and user guideline for CiA 417 – Part 1: Bootloader
DescriptionThis application note provides implementation hints for CiA 417’s bootloader (CiA 417 version 2.2.0 and higher).
public649 KiB2015-12-07Login
CiA 850 version 1.0.0CANopen recommended practice - CiA 413 based truck gateway for cranes, hookloaders, and areal working platforms
DescriptionThis recommended practice specify the implementation of the CiA 413 gateway interface for truck-mounted cranes, multi-lifts, and aerial working platforms. Besides some general definitions, it specifies the Process Data Objects to be received and transmitted.
public398 KiB2011-11-24Login
CiA 852 version 1.0.0CANopen recommended practice for CiA 401-based operator environment sub-systems
DescriptionThis document specifies the CANopen interface for operator environments with humanmachine interface functionality. It is based on the CiA 401 CANopen profile for generic I/O modules. Operator environments are for example simple remote control units, operator seats with integrated joysticks, foot pedals, pushbuttons, indicators, etc., and complete operator cabins. They are dedicated but not limited for construction, mining, agriculture and forestry machines, for harbor cranes, for boats and vessels, for wheelchairs and any other kind of machines on wheels.
public485 KiB2012-06-21Login

All public documents developed by CiA members are available for download free of charge, also for non-members. However, during the development process, the documents are normally only accessible for CiA members. CiA technical groups develop all documents. CiA technical secretaries support editing the documents.

CiA specifications are normative descriptions of functionalities to be implemented in hardware or software products. This includes protocols and profiles. Typical examples are the CANopen application layer (CiA 301) or the CANopen device profile for generic I/O modules (CiA 401).

CiA recommendations are informative descriptions about preferable solutions. A typical example is the CANopen cable and connector pin-assignment (CiA 303-1) recommendation.

CiA implementation and user guidelines describe how to implement respectively how to use the functions of CiA specifications and recommendations. A typical example is the CANopen application application note "CAN remote frames: Avoiding of usage (CiA 802)".

Historically the CiA specifications were published in hardcopy. The envelopes had different colors. This is why they were nicknamed rainbow specifications. But those days are gone – nowadays, CiA specifications are available in PDF format only.

Comment form for download

If you have multiple comments, you may download the comment form in Word format and fill it out. Please submit your comments by email (as attachment). Of course, we will inform you about the observation by the related CiA technical group as soon as possible. Any comment is submitted to the related CiA technical group and will be considered in the next meeting.

CiA specifications are carefully prepared and double-checked by the participating experts. Nevertheless, they may contain failures and unclear descriptions. If you detect editorial or technical errors, please inform the CiA office, so that we can improve the CiA documents. If you have some feature and change requests, you may also submit them to the CiA headquarters.

CiA Board of Directors

CANdictionary

For many years, CiA has been publishing the CANdictionary. It contains brief explanations of CAN-related terms and vocabulary including CAN FD. It is regularly reviewed and updated. Nevertheless, feedback is always welcome.

You can request the English version in paper format (publications(at)can-cia.org).