These electronic descriptions are used to configure CANopen device parameters or for testing and diagnostic purposes. This part specifies the CANopen profile database format, which is used by tools e. EDS file checker. This part specifies mechanisms with regard to the handling of network variables, which are specified in CiA In addition recommendations for tool integration are provided. Description CANopen 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. 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. 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.
Description This specification defines the services and protocols to interface CANopen networks to other e. Part 1 specifies the network access services provided by a CiA gateway device that give one CiA network device e. The description of the transport protocol between the CiA gateway device and the CiA network devices using the services specified in this document is not in the scope of this specification part.
PLC or tool. Base for this document is the general fieldbus integration document [4]. Description Conformance testing is the process of verifying that an implementation performs in accordance with a particular standard, specification or environment. A CiA 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. Description This specification defines the elements and rules for describing device profiles and communication network profiles for devices used in CANopen-based control systems. Description The 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. 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.
Description This part of the test plan specifies the additional tests for contrast media injectors, which shall be tested for conformity according to CANopen application profile for medical diagnostic add-on modules CiA version 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 , plus those defined in this test plan. Description This document provides the conformance test specification for devices implemented according to CiA , Part 1, 2, 3, 4, 5, and 6 version 2.
Description This document specifies function blocks to produce or consume CANopen communication services for devices programmable in IEC languages and to provide local CANopen functions.
Description This specification specifies the generic frame for the transparent transmission of CAN messages on a wireless network.
Description This framework provides implementation and configuration guidelines for devices implementing communication services as specified in EN 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.
Description This document specifies services and protocols for sleep and wake-up handling. CANopen sleep and wake-up handling are implemented in e. Description This 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. Devices compliant to this specifications use communication techniques, which are conform to those described in the CANopen application layer and communication profile specification.
This part of the device profile specifies the CANopen interface for modules with generic analog and digital inputs and outputs. The remaining default PDOs transmit or receive up to 12 analog inputs respectively up to 12 analog outputs both with a bit resolution.
All TPDOs are triggered by change-of-state. Therefore, default TPDOs containing analog inputs are disabled. Several parameters are specified to configure the input and output behavior e. Devices compliant to this specifications use communication techniques, which conform to those described in the CANopen application layer and communication profile specification. This part of the profile specifies the CANopen interface for joysticks and similar devices, e. Description This series of profile specifies the CANopen interface of power drive systems.
It is suitable for drive and motion controllers. It specifies several operating modes for frequency inverters, servo-controllers, and stepper motors. Part 2 specifies the basic drive and additional application functional elements as defined in IEC 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. 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 drive profile. It specifies several operating modes for frequency inverters, servocontrollers, and stepper motors. This part specifies the safety functionality for electrical drives and motion controllers compliant with the CiA 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. This part specifies the CANopen FD mapping for frequency converters, servo drives and stepper motors as well as for multiple-axes systems. Description This document represents the device profile for measuring devices and for universal controller devices for measuring or controlling physical quantities like temperature or pressure.
This document should be consulted in parallel to this profile. Description This 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.
This part specifies the parameter for the digital input and output blocks resp. Additionally, it specifies the alarm and control as well as the device function block. Description This specification represents the device profile for measuring devices and for universal controller devices for measuring or controlling physical quantities like temperature or pressure.
The CANopen device profile for measuring devices and closed-loop controllers consists of several parts. Description This 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. Description This document specifies the communication and application parameters for different types of linear and rotary encoders such as incremental and absolute, normal, and high resolution, single and multi-sensor linear only encoders.
The document provides also operating principles of the encoders and specifies encoder output process values such as position, speed, acceleration and jerk. The document specifies also encoder CAM parameters. Description This profile describes the functionality of interconnectable proportional valves, hydrostatic pumps and hydrostatic transmissions. The device profile has been defined for hydraulic proportional valves, hydrostatic pumps and hydrostatic transmissions.
It can as well be applied on pneumatic devices. Description This CiA device profile describes the functionality of interconnectable proportional valves, hydrostatic pumps and hydrostatic transmissions. The device profile specifies CANopen interface for hydraulic proportional valves, hydrostatic pumps and hydrostatic transmissions. This profile may as well be applied on pneumatic devices.
Description This specification represents the CANopen device profile for one- and two-axis inclinometers. Description This profile specifies the CANopen interface for one- and two-axis inclinometers.
This sensor interface provides optionally also temperature, speed, acceleration, and jerk process values. Description The 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.
These specifications should be consulted in parallel to these device profile specifications. Description This document represents the CANopen device profile for generic X-ray collimators, and as such describes the generic subset of collimator functionality. These specifications should be consulted in parallel to this device profile specification.
Description This 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. 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 Jto-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. This part specifies the application objects for brake and running gear equipment.
Learn more. Asked 1 year, 4 months ago. Active 10 months ago. Viewed times. This seems to be the industrial version. I have also seen quite a lot of PC can interfaces with the 1st pinout. Add a comment. Active Oldest Votes. An example: CiA version 1.
Elektro Elektro 1. I've checked literally over different listings. A number of different data rates are defined, with 1Mbps Bits per second being the top end, and 10kbps the minimum rate. All modules must support 20kbps. Cable length depends on the data rate used. Normally all the devices in a system transfer uniform and fixed bit-rates. The maximum line length is 1Km, 40 meters at 1Mbps. Termination resistors are used at each end of the cable. The CAN Bus interface uses an asynchronous transmission scheme controlled by start and stop bits at the beginning and end of each character.
This interface is used, employing serial binary interchange. Information is passed from transmitters to receivers in a data frame. The pinout for the 9-pin D connector is shown in the table below. Listing of 'D' Connectors Manufactures Listing of Cable Manufactures.
Analog Devices, Inc. Atmel Corp. Interfaces, Data-loggers, Sensor devices and Output devices. Configurable without programming. The data link layer and the physical layer is implemented in hardware. In addition, CANopen specifies bit-timing and recommends pin-assignments for connectors.
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