CANopen communication profiles and frameworks
CANopen application layer and communication profile
CiA DS 301 V 4.0.2
This document contains the description of the CANopen Application Layer and Communication Profile.
The CANopen Communication Profile (DS 301) defines the basic communication mechanisms for exchanging data via a CANopen-based networks. This includes the structure of the object dictionary, the network management and boot-up as well as communication objects like PDO, SDO,
SYNC and time stamp. The object dictionary provides a standard interface for accessing of communication parameters as well as process data. The part of the object dictionary which describes the general device and communication parameters is common for all devices types.
previous versions:
CiA DS 301 V 3.0
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CANopen framework for CANopen managers and programmable CANopen devices
CiA DSP 302 V 3.2.1
In general the mechanisms, which are specified in the communication profile are sufficient for the definition of profiles for devices which, on the application level, provide some kind of I/O functionality. Example devices include I/O modules, drives and regulators. These devices whilst they may be complex are not termed ‘intelligent’ as they do not run an application level program.
For the description and operation of intelligent devices further mechanisms are necessary which are specified in this document. This document has to be regarded as a framework for the definition of device profiles for intelligent or programmable devices in form of an extension to the CANopen Communication Profile. The additional mechanisms specified in this document are useful especially for intelligent devices like PLCs, HMIs or CANopen tools.
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CANopen cabling and connector pin assignment
CiA DR 303-1 V 1.1.1
This document recommends cabling and pin assignment of bus connectors for CANopen-based systems. It specifies also the naming conventions for the bus lines, ground lines, and shield connections.
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CANopen representation of SI units and prefixes
CiA DR 303-2 V 1.1
This document recommends the representation of the International System (SI) of units and prefixes in CANopen Device, Interface and Application Profiles. The name "Système International d'unités" (International System of Units), with abbreviation SI, was adopted by the 11th Conférence générale des poids et mesures in 1960, and is standardized in ISO 1000.
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CANopen indicator specification
CiA DR 303-3 V 1.0
A common behaviour of indicators helps service personnel to identify communication problems quickly without checking manuals for each device. This recommendation intends to specify the implementation of status LEDs (Light Emitting Diode) on CANopen devices.
This recommendation only describes the communication-related indicators. Additional application-related indicators may be present. Their use is either described in the appropriate device profile or is manufacturer-specific.
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CANopen framework for safety-relevant communication
CiA DSP 304 V 1.0
The CANopen Framework Safety-relevant Communication is intended to be an add on to the CANopen Application Layer and Communication Profile.
It is assumed, that a device with the need of safety-relevant communication can use all the other features defined by the communication profile. Safety is an additional property of such devices. Only special communication objects support safety, all other objects remain normal. The manufacturer and the system integrator shall take care, that the safety requirements are allocated to safe communication objects, that the hardware and software of the device support the safety function and that the device is operated within its safe limits.
This framework describes only the data transport mechanism on a CANopen network, that allows the exchange of safety-relevant data.
Due to CANopen compatibility communication is limited to 64 safe communication objects, so up to 64 suppliers of safety-relevant objects can operate in a CANopen network. The number of consumers of the safety-relevant objects is not defined (at least one receiver is necessary).
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CANopen layer setting services and protocol (LSS)
CiA DSP 305 V 1.1.1
This document contains the protocol specification of the Layer Setting Services (LSS) for CANopen.
LSS offers the possibility to inquire and change the settings of certain parameters of the local layers on a CANopen module with LSS Slave capabilities by a CANopen module with LSS Master capabilities via the CAN Network.
The following parameters can be inquired and/or changed by the use of LSS:
- Node-ID of the CANopen Slave
- Bit timing parameters of the physical layer (baud rate)
- LSS address (Identity Object, Index 1018H)
By using LSS an LSS Slave can be configured for a CANopen network without using any devices like DIP-switches for setting the parameters. There are several solutions available for LSS Slaves with and without a unique LSS-address or non-volatile storage.
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CANopen electronic data sheet specification for CANopen (EDS)
CiA DSP 306 V 1.1
The usage of devices in a communication network requires configuration of the device parameters and communication facilities. CANopen defines a standardised way to access these parameters via the object dictionary.
For handling of the complexity of CANopen systems Software Tools are required. This reduces the complexity of the planning, configuration and analysis process and significantly increases the security of the system.
For this purpose Software Tools need an electronic description of the CANopen devices. To allow the usage of manufacturer independent Tools, this document defines a standardised file format – called Electronic Data Sheet EDS.
Furthermore some derived file formats are specified. The DCF describes a concrete incarnation of a device configuration. The MDS describes modules of devices with a modular structure.
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CANopen framework for maritime electronics
CiA DSP 307 V 1.0.1
It is the intention of this framework to provide a protocol which facilitates safe inter-operability and support the functionality required by modern maritime systems and equipment. Such requirements is the need of ship owners, operators, manufacturers, yards and regulatory bodies.
Every effort has been made to ensure that the specifications in this standard will support current functions for maritime systems, as well as the increasing demand for integration of systems.
It is stressed that operational safety will ultimately depend upon the correct implementation of this standard - safety is not (and cannot be) intrinsic to the specification. While every measure has been taken to ensure that the specifications are capable of supporting safe implementation, it remains that they will not suit every application. Therefore the user is cautioned to take due consideration of any requirements imposed by the regulatory bodies in this respect
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CANopen performance test
CiA TR 308 V 1.0
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.
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