The name of a device, for example, can be read from index 0x sub-Index 0. Service data objects SDO permit optional access to any desired entry of the object directory. Since these entries frequently exceed the maximum allowable size of a CAN message, i. PDOs are configured with the corresponding entries in the object directory.
These special entries allow changing the CAN ID as well as mapping bytes of the message to objects of the object dictionary. Up to logical devices may be addressed in a CANopen network.
One of these devices must have CANopen Master functionality. This means that the Master can monitor other devices called Slaves and change their states. Each device is uniquely identified by its node address 1 to The most important specification documents are:. The behaviors of many device classes are already defined under CANopen in so-called device profiles DS 4xx.
These profiles describe:. Software tools from Vector offer a wide range of capabilities for simulation, development, analysis, testing and diagnostics of CANopen systems and components.
Software tools used to develop, simulate, test and maintain distributed systems require powerful and flexible hardware interfaces and logging solutions. Do you have technical questions and are you looking for suitable answers? Our knowledge base provides the most important FAQs for you. CAN-based Communication System. Open architecture Real-time transfer of process data without protocol overhead Modular and scalable Interoperability and interchangeability Profile concept similar to Interbus-S and Profibus Supported by many international manufacturers.
CANopen Standard. Show previous. Show next. Object Directory Every CANopen device makes internal data process data, parameters available on the bus via a defined interface, whereby these internal data are organized in an object directory.
Index hex. The most important specification documents are: DS - This document is also known as the Communication profile and it describes the fundamental services and protocols used under CANopen. These profiles describe: Run-time behavior Device-specific objects in the object directory Error handling Standard configuration of PDOs. CANopen Development Process.
Find out how the tools can support you comprehensively throughout the development process here. In the selection process, it does not matter whether the devices are purchased or developed in-house. 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. 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.
This part specifies the application objects for other than brake and running gear equipment. Description Part 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. Description Part 6 of the CANopen device profile for truck gateways defines a framework for Jbased networks. The object value definitions shall be as given in SAE J The gateway is usable in static systems, where ECU address changes do not apply.
Description The 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. Description The 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. Description The 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. Each of those properties is realized as a single virtual device. Description This part of the application profile gives an overview of the virtual devices. Description This part of the application profile pre-defines the application objects of the physical and virtual devices in detail.
It specifies the CANopen communication interfaces and the application functionality of several functional elements virtual devices.
Additionally some network architecture examples are given. It consists of several parts: - Part 1 provides general definitions - Part 2 specifies the functionality of the virtual devices? Part 3 specifies the pre-defined PDOs - Part 4 specifies the application objects This part specifies the general lift control network architecture and provides description and block diagrams for single and multi-shaft CANopen lift control network structures.
It provides description of lift component functions in form of virtual devices and their functions in the lift control network. Furthermore, it specifies bootloader mode handling for firmware upload and application programs. Additionally, it specifies also network wide error handling, power management handling, power consumption measurements, and character encoding for VT terminals. It specifies also for each virtual device the supported application objects including the category, access, and default value attributes.
In addition, the PDOs for the other lift application 2 to 8 are assigned correspondingly. Part 3 specifies the pre-defined PDOs - Part 4 specifies the application objects This part specifies the general communication parameters, list of application parameters, including the category, access, and default value attributes, assigned to each virtual device in a single lift application as well as list of PDOs assigned to each virtual device in a lift application 1 to 8.
This sub- part specifies in detail the communication and mapping behavior of the PDOs for the lift 1 application. Part 3 specifies the pre-defined PDOs - Part 4 specifies the application objects This part of the application profile specifies in detail the communication and mapping behavior of the PDOs for the lift 1 application.
Part 3 specifies the pre-defined PDOs - Part 4 specifies the application objects This part specifies in detail the used process data, configuration parameters, and diagnostic information represented in the object dictionary for the lift 1 application.
Description This 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.
Description This 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. Chargers compliant to this standard shall use communication techniques, which conforms to those described in the CANopen application layer and communication profile. Description The 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.
This part specifies the physical layer and the common CANopen functions and common communication objects. It also specifies the CANopen functions of the extruder-master. This part specifies the CANopen interface for the puller downstream device. Description The 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.
This part specifies the CANopen interface for the corrugator downstream device. This part specifies the CANopen interface for the saw downstream device.
This part specifies the CANopen interface for simple and advanced co-extruder. This part specifies the CANopen interface for calibration-tables. Description This 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. Description This part of the CANopen application profile for train control networks describes the CANopen interface of the virtual rail vehicle auxiliary operating system. Description This part of the CANopen application profile describes the CANopen interface of the virtual power drive system to the rail vehicle in-vehicle network.
Description This 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. Description This part of the CANopen application profile for rail vehicles describes the CANopen interface of the virtual exterior lighting system.
Description This part of the CANopen application profile for rail vehicles describes the CANopen interface of the virtual interior lighting system. Description This part of the CANopen application profile for rail vehicles describes the CANopen interface of the virtual door control system. Description This set of CANopen application profile specifications describes the CleANopen embedded body control network of municipal vehicles, e. It does not specify CANopen devices.
With special regard to functional safety, any device is responsible for a safe operation, by itself. Any measure that increases the probability for safe operation and utilizes the CAN communication is just on top. Therefore these measures are not safety-relevant in terms of functional safety. The CleANopen application profile specifications consists of several parts: Part 1 provides the general definitions, Part 2 specifies the functionality of the virtual devices, Part 3 specifies the pre-defined PDOs and SDOs, Part 4 specifies the application objects.
This part provides some general definitions of CleANopen and specifies the CAN physical layer as well as the error handling. This part specifies the general communication parameter. It specifies for each virtual device the supported application objects including the category, access, and default value attributes. This sub-part of part 3 specifies the communication and mapping parameter sets of the pre-defined TPDOs. This sub-part of part 3 specifies the communication and mapping parameter sets of the predefined RPDOs.
This sub-part of part 3 specifies the pre-defined additional SDO clients and servers. This part specifies the values and value range attribute of the application objects. It specifies also the object and data type attributes of the application objects. Description This 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 Description This part of the CANopen application profile for rail vehicles power drive systems describes the traction controller.
Description This part of the CANopen application profile for rail vehicle power drive systems describes the diesel engine control unit. Description This part of the CANopen application profile for rail vehicle power drive systems describes the transmission control unit. Description This part of the CANopen application profile for rail vehicle power drive systems describes the diesel engine safety control unit.
Description This part of the CANopen application profile for rail vehicle power drive systems describes the speed sensor unit. Description This 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. Description This 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. Description This part of the CANopen application profile for rail vehicle power drive systems describes the starter unit. Description This part of the CANopen application profile for rail vehicle power drive systems describes the oil refill unit. Description This 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. Description This part of the CANopen application profile rail vehicle door control system describes the rail door controller. Description This part of the CANopen application profile for rail vehicle door control systems describes the door unit.
Description The 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 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 Description This 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 Additionally, in the case that the module is programmable it shall conform to the framework for programmable CANopen devices CiA If a safety-related communication is required, the injector device is compliant to the CANopen framework for safety-related communication EN The definition of SRDOs safety-related data objects is not in the scope of this document.
Description This 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 Devices compliant to this application profile uses communication techniques, which conform to those described in the CiA Draft Standard Description This part of the CANopen application profile rail vehicle exterior lighting describes the exterior lighting controller.
Description This part of the CANopen application profile for rail vehicle exterior lighting describes the exterior lighting unit. Description This CANopen application profile defines the communication between virtual devices within a rail vehicle auxiliary operating system. 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.
Description This part of the CANopen application profile for rail vehicle auxiliary operating systems describes the auxiliary operating system controller. Description This part of the CANopen application profile for rail vehicle auxiliary operating systems describes the power train cooling control unit. Description This part of the CANopen application profile for rail vehicle auxiliary operating systems describes the coolant expansion tank unit.
Description This part of the CANopen application profile railway auxiliary operating system describes the power train cooling fan control unit. Description This part of the CANopen application profile for rail vehicle auxiliary operating systems describes the engine pre-heating unit.
Description This part of the CANopen application profile for rail vehicle auxiliary operating systems describes the hydrostatic signal interface unit. Description This virtual device describes the generator unit, which is a part of the rail vehicle auxiliary operating system. Description This 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 Description This part of the CANopen application profile for rail vehicle interior lighting control describes the interior lighting controller.
Description This part of the CANopen application profile for rail vehicle interior lighting control describes the interior lighting unit. In addition to the general system structure, this part of CiA defines a finite state machine FSA that is supported by all laboratory units, following the specification CiA 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. Devices compliant to these profiles use communication techniques, which conform to those defined in the CANopen application layer and communication profile CiA In addition, they may use communication techniques, which conform to those described in the set of specifications for additional application layer functions CiA Description This 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 , 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.
Description This part of the CANopen device profiles for laboratory automation systems specifies the heating, cooling and shaking unit. Description This application profile provides general definition as well as recommendations for using CANopen control networks on construction machineries.
Description This 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. This part of the application profile specifies the pre-defined communication objects. 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. Description This document specifies the CANopen profile for a sub-section of low-voltage switchgear devices: motor starters, soft starter and motor management starters. Description This 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. Description This document specifies the physical layer, and some common communication parameter objects.
Description This profile series specifies the CANopen interfaces for container-handling machine add-on devices such as spreaders for cranes and for straddle carriers. The specification comprises the following parts: Part 1: General definitions, Part 2: Spreader for crane, Part 3: Spreader for straddle carrier. Part 2 specifies the device profile for crane spreaders including process data and process data objects. Part 3 specifies the device profile for straddle carrier spreaders including process data and process data objects.
Description This device profile specifies the CANopen interface for simple and intelligent radio frequency identification devices. The gateway implements AS-Interface master functionality. Description This 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.
Description This CANopen application profile specifies the physical layer as well as application, configuration and diagnostic parameters for the add-on devices used in special-purpose passenger cars such as taximeter, roof bar, etc. This part defines the virtual devices.
This part specifies in detail the process data and parameters of the virtual devices. Description This document specifies the application profile specific tests for CiA devices. The tests include: Electronic data sheet-based verification of object dictionary entries; Application profile specific tests for power management, Layer Settings Services and Network Management States; Dynamic tests covering message timings and stress tests; Integration tests based on post analysis of trace recordings; Virtual device specific function tests.
Description This 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.
The motion function block may be performed by the PLC or by the drive. It is suitable for programmable and nonprogrammable power supply devices with single or multiple outputs that are voltage-, current-, or power-controlled. Description The 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. Part 1 provides the general concept of the EMS. Part Generator unit, Part Load unit. Part 2 provides additional specifications with regard to the pre-defined communication objects as well as the general communication objects. Description This document specifies the PDO communication and mapping parameters. Part 3 specifies the application objects provided by the virtual device Energy management system controller EBC.
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. Part 6 of the document specifies application objects provided by the battery pack.
Description This document specifies application objects provided by the drive control unit, as typically utilized in light electric vehicles.
Description This document specifies application objects provided or indicated by human machine interface units, as typically utilized in light electric vehicles. This comprises human machine interface units, managing data for signalling, travelling, battery systems, inputs for energy management user condition and state, motion and diagnostics.
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. 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. Description This specification describes the control application for drilling machines with special regard on positioning and tool control. 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. 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. Description This document specifies the CANopen interface for energy measuring devices.
This includes energy consumption as well as energy production, in particular for energy recovering. Description This profile specifies the CANopen interface for on-board weighing devices.
These devices are usable on trucks, off-highway or off-road vehicles including train coaches. This profile consists of several parts: Part 1: General specification and functional overview; Part 2: Communication parameter specification; Part 3: Application parameter specification. This part of the profile describes the operating principles including the error handling. Additionally, it describes the CANopen application layer functionality. This part of the profile specifies the mandatory and recommended communication parameters, including the parameter sets for PDO communication.
This part of the profile specifies the application parameter as process data, the diagnostic parameters and configuration parameters. Description This document specifies the CANopen interface of a service robot controller device, which is compliant to the Robotic technology component RTC specification.
It also specifies the lower-layer requirements. Description This document specifies the CANopen interface for load cells. This includes process data and configuration parameters as well as PDO communication and mapping parameters.
Description This document specifies the CANopen interface for scales. Description This document specifies the CANopen interface for human machine interface and indicators. Description This profile specifies the CANopen interface for devices that identify existence, dimension, orientation, or movement of items in their environment e.
Often those devices are called vision sensors or object detection devices. Description This document specifies operating principles and the application data for IO-Link interface devices. This includes the functional behavior and general specifications of the application parameters. Description This document specifies the mapping of CANopen application layer protocols to J parameter groups. Additionally, this document specifies the mapping of the EMCY emergency protocol.
It consists of the following parts: Part 1: Physical interface implementation, Part 2: Controller interface specification, Part 3: System design recommendation, Part 4: Ringing suppression. This part describes the specified interface between the protocol controller implementing the CAN FD data link layer protocol and the host controller including necessary configuration registers. Such a harmonized interface reduces the effort for adapting the low-level driver software to different implementations.
The intent of this specification is to enable larger topology flexibility and higher bit rates for CAN networks. The HS-PMA implementations with additional signal improvement functionalities support communication in the presence of defined unterminated wire stubs without requiring configuration, for example bit-rate settings. Description This spreadsheet is an attachment to the CiA v.
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