CANopen

CANopen

CANopen是一種架構在控制區域網路路（Controller Area Network, CAN）上的高層通信協協定，包括通信子協定及設備子協定，常在嵌入式系統中使用，也是工業控制常用到的一種現場匯流排。

基本介紹

  • 中文名：CANopen
  • 外文名：CANopen
  • 架構在：控制區域網路路
  • 屬於：高層通信協定
  • 用於：工業控制常用到的一種現場匯流排
總述,設備模型,CANopen優勢概述,對象字典,通訊,通訊對象,通訊模型,協定,SDO 協定,PDO 協定,CiA發布的協定,

總述

CANopen是一種架構在控制區域網路路（Controller Area Network, CAN）上的高層通訊協定，包括通訊子協定及設備子協定常在嵌入式系統中使用，也是工業控制常用到的一種現場匯流排。
CANopen 實現了OSI模型中的網路層以上（包括網路層）的協定。CANopen 標準包括定址方案、數個小的通訊子協定及由設備子協定所定義的套用層。 CANopen 支援網路管理、設備監控及節點間的通訊，其中包括一個簡易的傳輸層，可處理資料的分段傳送及其組合。一般而言數據鏈結層及物理層會用CAN來實作。除了 CANopen 外，也有其他的通訊協定（如EtherCAT）實作 CANopen 的設備子協定。
CANopen由非營利組織CiA（CAN in Automaion）進行標準的起草及審核工作，基本的 CANopen 設備及通訊子協定定義在 CAN in Automation (CiA) draft standard 301中。針對個別設備的子協定以 CiA 301 為基礎再進行擴充。如針對 I/O 模組的 CiA401 及針對運動控制的 CiA402。

設備模型

以下是所有 CANopen 設備都要具備的功能：
通訊單元 處理和網路上其他模組通訊所需要的通訊協定。 設備的啟動及重置由狀態機(state machine)控制。狀態機需包括以下的幾個狀態：Initialization, Pre-operational, Operational 及 Stopped。當接收到網路管理 (NMT) 通訊對象，狀態機會轉換到對應的狀態。 對象字典 (Object Dictionary) 是一個有 16 位元索引 (Index) 的變數陣列。每個變數可以（但非必須）有 8 位元的子索引 (Subindex)。變數可用來調整設備的組態，也可以對應設備量測的資料或設備的輸出。 當狀態機設定為 operational　之後，設備的套用 (application) 部份就會實現設備預期的機能。此部份可以由對象字典中的變數調整其設定，而資料由通訊層傳送或接收。

CANopen優勢概述

1.物理層非常穩定；2. 數據鏈路層可靠，因為相比其他所有匯流排，只有CAN可以做到達到漢明間距(Hamming Distanz)為6，能夠檢測報文里多達5個隨機引入的位錯誤及15位突發性錯誤。3. 靈活，兼容性高；4. 可互操作性高；5. 價格低 （對於設備生產商來說）；6. CAN產品尺寸小，節省空間；7.支持冗餘備用

對象字典

CANopen 設備都需要具備對象字典，用來設定設備組態及進行非即時的通訊。對象字典的entry 定義如下：
索引 (Index)：對象 16 位元的位址。 對象名稱 (Object name)：一個代表對象的 symbolic type，可以是陣列、紀錄或只是一個變數。 名稱 (Name)：描述此 entry 的字串。 形態 (Type)：變數的資料形態。 屬性 (Attribute)：提供此 entry 是否可讀/可寫的資料，有下列四種：可讀/寫、唯讀、唯寫、唯讀常數。 必須 (Mandatory)/可選 (Optional)欄位定義屬於特定設備規範下的設備，是否必須實現某些對象。 在 CANopen 標準中定義了對象字典中的基本資料型態，包括邏輯值、整數及浮點數。也定義了複合對象：如陣列、記錄及字串。複合對象用一個 8 位元的數值作為其子索引(subindex)。記錄或陣列中子索引 0 的位置記錄此數據結構的元素個數，資料型態為 UNSIGNED8。
例如在 CiA301 標準中，設備通訊的參數放在索引範圍 0x1000 - 0x1FFF (通訊行規區)。此區域的前幾項如下：
索引
對象名稱
名稱
形態
屬性
M/O
0x1000
VAR
device type
UNSIGNED32
唯讀
M
0x1001
VAR
error register
UNSIGNED8
唯讀
M
...
0x1008
VAR
manufacturer device name
Vis-String
常數
O
...
若配合適當的工具，可以用編輯電子資料表（electronic data sheet, EDS)檔案的方式規劃一個設備，並且將變數的數值上傳到設備中。EDS 檔案的格式通常會是INI檔。

通訊

通訊對象

CANopen 的物理層 CANbus 每次傳送的數據量不大，其中包括 11 位元的 ID、遠端傳輸請求（RTR）位元及大小不超過8位元組的資料。CANopen 將 CANbus 11 位元的 ID 分為 4 位元的功能碼及 7 位元的 CANopen 節點 ID。7 位元的 ID 共有 128 種不同的組合，其中 ID 0 不使用，因此一個 CANopen 網路上最多允許 127 台設備。CANbus 在 CAN 2.0 B 規格中允許 29 位元的 ID，因此若配合 CAN 2.0 B 使用，CANopen 網路上可以超過127 台設備，不過在實際運用中，大多數的 CANopen 網路上設備數量均低於此數值。
CANopen 將 CANbus 的 11 位元 ID 稱為通訊對象 ID (COB-ID)。當傳輸數據發生衝突時，CANbus 的仲裁機制會使 COB-ID 最小的訊息繼續傳送，不用等待或重傳。COB-ID 的前 4 個位元是 CANopen 的功能碼，因此數值小的功能碼錶示對應的功能重要，允許的延遲時間較短。
以下是一個標準的 CANopen 頁框：
功能碼
節點 ID
RTR
資料長度
資料
長度
4 位元
7 位元
1 位元
4 位元
0-8 位元組
在 CANopen 標準中，部份 COB-ID 被保留作網路管理及 SDO 通訊用。而在設備初始化後，有些功能碼和 COB-ID 會對映到標準的功能，不過後續仍可以規劃為其他用途。

通訊模型

CANopen 設備間的通訊可分為以下三種通訊模型。
在 master/slave 模型中，一個 CANopen 設備為 master，負責傳送或接收其他設備（稱為 slave）的數據。NMT 協定就使用了 master/slave 模型。 客戶機/伺服器（client/server）模型定義在 SDO 協定中，SDO client 將對象字典的索引及子索引傳送給 SDO server，因此會產生一個或數個需求數據（對象字典中，索引及子索引對應的內容）的 SDO 封包。 生產者/消費者（producer/consumer）模型用在 Heartbeat and Node Guarding 協定。由一個生產者送出數據給訊息者，同一個生產者的數據可能給一個以上的訊息者。又可分為二種： push-model：生產者會自動送出數據給消費者。 pull-model：消費者需送出請求訊息，生產者才會送出數據。
CANopen參考模型：
CANopen參考模型CANopen參考模型
CANopen設備模型：
CANopen設備模型CANopen設備模型

協定

NMT 協定NMT（網路管理, Network management）協定會定義（設備內部）狀態機的狀態變更命令（如啟動設備或停止設備）、偵測遠端設備 bootup及故障情形。
NMT master 使用的模組控制協定可變更設備的狀態。其 COB-ID 為 0，其功能碼及節點 ID 均為 0，因此網路上的所有節點均會處理這個信息。在此信息的數據部份會有此信息實際針對節點的ID，此 ID 也可為 0，表示所有節點都要變更為指定的狀態。
心跳協定（Heartbeat protocol）是用來監控網路中的節點及確認其正常工作。心跳信息的生產者（一般是 slave 設備）周期性的送出功能碼 1110、ID 為本身節點 ID 的訊息，信息的數據部份有一個表示節點狀態的位。而心跳信息的消費者負責接收上述數據，若在指定時間（於設備的對象字典中定義）內，消費者均未收到信息，可採取相應動作（例如顯示錯誤或重置該設備）。
其格式為：
COBID + DATA(status of node) CANopen 設備需要在 bootup 時自動從 Initializing 狀態切換至 Pre-operational 狀態，設備會在切換完成後送出一個心跳信息，這就是心跳協定。
有一種 pull model 的 NMT 協定，稱作節點監控（Node guarding）協定，也可以作從機的監控。

SDO 協定

服務數據對象(SDO)可用來存取遠端節點的對象字典，讀取或設定其中的數據。提供對象字典的節點稱為SDO server，存取對象字典的節點稱為SDO client。SDO 通訊一定由SDO client 開始，並提供初始化相關的參數。
在CANopen的術語中，上傳是指由 SDO server 中讀取數據，而下載是指設定 SDO server 的數據。
由於對象字典中的數據長度可能超過8個位元組，無法只用一個CAN數據包傳輸，SDO也支援長數據包的分割（segmentation）和合併（desegmentation）。這樣的對象有二種：SDO下載/上傳（SDO download/upload）及SDO區塊下載/上傳（SDO Block download/upload）。CANopen協定較新版本支援SDO區塊傳輸，可以允許傳輸大量的數據，且傳輸的overhead可以較低。
負責處理SDO數據傳輸的COB ID可在對象字典中設定。在對象字典的索引0x1200至0x127F可設定SDO server的COB ID，最多可設定到127個。而SDO client可以在對象字典的索引0x1280至0x12FF中設定。不過預定義連結（pre-defined connection set）定義在開機後（Pre-operational狀態）可用來設定設備組態的SDO。接收用的COB ID為0x600 +節點ID，而傳送用的COB為0x580 +節點ID。

PDO 協定

過程數據對象 (PDO) 協定可用來在許多節點之間交換即時的數據。可透過一個 PDO ，傳送最多 8 位元組（64位）數據給一設備，或由一設備接收最多 8 位元組（64位元）的數據。一個 PDO 可以由對象字典中幾個不同索引的數據組成，規劃方式則是透過對象字典中對應 PDO mapping 及 PDO 參數的索引。
PDO 分為兩種：傳送用的 TPDO 及接收用的 RPDO。一個節點的 TPDO 是將數據由此節點傳輸到其他節點，而 RPDO 則是接收由其他節點傳輸的數據。一個節點分別有 4 個 TPDO 及 4 個 RPDO 。
PDO 可以用同步或異步的方式傳送：同步的 PDO 是由 SYNC 信號觸發，而異步的 PDO 是由節點內部的條件或其他外部條件觸發。例如若一個節點規劃為允許接受其他節點產生的 TPDO 請求，則可以由其他節點送出一個沒有數據但有設定 RTR 位元的 TPDO（TPDO 請求），使該節點送出需求的數據。
藉由 RPDO 也可以使兩種設備同時啟動。
CANopen 專有名詞
PDO 過程數據對象 - 對應實際物理量的輸入及輸出。數據的單位可能是 RPM, V, Hz, mAmp...。
SDO 服務數據對象 - 一般來說是組態設定的數據，如節點位置、節點ID、通信速度、位移、增益等。……
COB-ID - CAN 對象編號
CAN ID - CAN Identifier. 是在每個 CAN 數據前面的信息識別碼，共 11 位元。
EDS - 電子數據手冊（Electronic data sheet）是 INI 格式或XML格式（從2007年底開始）的檔案。
DCF - 設備配置檔案（Device configuration file），是加強版的 EDS，可以設定節點 ID 及通信速度。
更多協定介紹，請參考：
CANopen應用程式框架圖
CANopen最小程式開發流程圖；
CANopen開發流程圖（最小程式）CANopen開發流程圖（最小程式）
CANopen原始碼框架圖（SO-877-VP或SO-1063-VP）；
CANopen原始碼框架圖CANopen原始碼框架圖

CiA發布的協定

截止2016年12月31日，在CiA官方網站上列出的協定如下：
其中Status為
1、public的為公開協定；
2、DS (draft standard) DS (標準草案)
這種標準尚未定案，但已發布。 CiA 的標準草案在一年內不會發生改變。
3、DSP (draft standard proposal) DSP (標準草案提案)
這種標準僅是一個提案，但已發布。CiA的標準草案提案可隨時變更，不事先通知。
Title
Status
Published
Size
Action
1
CiA 102 version 3.0.0Physical layer for industrial applications
public96 KiB
2010-02-05Download
2
CiA 103 version 1.0.1CANopen intrinsically safe capable applications – Physical layer specification
public429 KiB
2016-08-02Download
3
CiA 150 version 1.1.0, CiA 205-1+2 addendumCAN power management layer specification
public362 KiB
1997-05-01Download
4
CiA 201-207 version 1.1.0CAN Application Layer for industrial applications
public3.0 MiB
1996-02-01Download
5
CiA 301 version 4.2.0CANopen application layer and communication profile
public3.4 MiB
2011-02-21Download
6
CiA 302-1 version 4.1.0CANopen additional application layer functions - Part 1: General definitions
DSP85 KiB
2009-02-02Member only
7
CiA 302-2 version 4.1.0CANopen additional application layer functions – Part 2: Network management
DSP1.5 MiB
2009-02-02Member only
8
CiA 302-3 version 4.1.0CANopen additional application layer functions – Part 3: Configuration and program download
DSP331 KiB
2010-04-08Member only
9
CiA 302-4 version 4.1.0CANopen additional application layer functions – Part 4: Network variables and process image
DSP162 KiB
2009-02-02Member only
10
CiA 302-5 version 4.1.0CANopen additional application layer functions – Part 5: SDO manager
DSP397 KiB
2009-02-02Member only
11
CiA 302-6 version 4.1.0CANopen additional application layer functions – Part 6: Network redundancy
DSP390 KiB
2009-02-02Member only
12
CiA 302-7 version 1.0.0CANopen additional application layer functions – Part 7: Multi-level networking
DSP698 KiB
2009-02-02Member only
13
CiA 302-9 version 1.0.0CANopen additional application layer functions – Part 9: Energy saving
DSP169 KiB
2014-03-27Member only
14
CiA 303-1 version 1.8.0Recommendation - Part 1: Cabling and connector pin assignment
public703 KiB
2012-04-27Download
15
CiA 303-2 version 1.5.0Recommendation - Part 2: Representation of SI units and prefixes
public120 KiB
2012-04-27Download
16
CiA 303-3 version 1.4.0Recommendation - Part 3: Indicator specification
public124 KiB
2012-04-27Download
17
CiA 305 version 3.0.0CANopen layer setting services (LSS) and protocols
DSP2.0 MiB
2013-05-08Member only
18
CiA 306 version 1.3.0CANopen electronic data sheet specification
public179 KiB
2005-01-01Download
19
CiA 306-1 version 1.3.7CANopen electronic device description - Part 1: Electronic Data Sheet and Device Configuration File
DSP223 KiB
2014-03-18Member only
20
CiA 306-2 version 1.0.4CANopen electronic device description - Part 2: Profile database specification
DSP356 KiB
2014-03-24Member only
21
CiA 306-3 version 1.0.0CANopen electronic device description - Part 3: Network variable handling and tool integration
DSP153 KiB
2014-03-18Member only
22
CiA 308 version 1.0.1Technical Report – Performance measurement basics
public382 KiB
2006-01-24Download
23
CiA 309-1 version 2.0.0CANopen access from other networks - Part 1: General principles and services
public369 KiB
2015-07-30Download
24
CiA 309-2 version 1.1.0CANopen access from other networks - Part 2: Modbus/TCP mapping
public0.9 MiB
2006-12-12Download
25
CiA 309-2 version 1.3.0CANopen access from other networks - Part 2: Modbus/TCP mapping
DS1.1 MiB
2015-07-30Member only
26
CiA 309-3 version 1.1.0CANopen access from other networks - Part 3: Mapping
public107 KiB
2006-12-12Download
27
CiA 309-3 version 2.1.0CANopen access from other networks - Part 3: ASCII mapping
DS482 KiB
2015-07-30Member only
28
CiA 309-4 version 1.0.0CANopen integration in PROFINET IO - Part 4: Amendment 7 to Fieldbus Integration into PROFINET IO
DSP1.1 MiB
2011-03-01Member only
29
CiA 310-1 version 1.1.0CANopen conformance test plan – Part 1: CiA 301 testing
DSP765 KiB
2009-02-04Member only
30
CiA 311 version 1.1.0CANopen device description – XML schema definition
DSP673 KiB
2011-08-10Member only
31
CiA 312-1 version 1.0.0CANopen profile conformance test plan – Part 1: General definitions
DSP76 KiB
2008-04-11Member only
32
CiA 312-2 version 1.0.0CANopen profile conformance test plan – Part 2: Generic I/O modules
DSP346 KiB
2008-04-11Member only
33
CiA 312-4 version 1.0.0CANopen profile conformance test plan – Part 4: Contrast media injectors
DSP0.9 MiB
2009-01-16Member only
34
CiA 314 version 1.0.0Accessing CANopen services in devices programmable in IEC 61131-3 languages
DSP363 KiB
2015-10-09Member only
35
CiA 315 version 1.0.0CANopen generic frame – for wireless tunneling of CAN messages and for transfer of diagnostic data
DSP441 KiB
2011-08-09Member only
36
CiA 318 version 1.0.0CANopen integration to RTC environment
DSP565 KiB
2012-02-10Member only
37
CiA 319 version 1.0.0CANopen implementation and configuration guideline for safety-related devices
DSP229 KiB
2014-09-02Member only
38
CiA 401 version 3.0.0CANopen device profile for generic I/O modules
public1.0 MiB
2008-06-03Download
39
CiA 401-1 version 3.1.0CANopen Profile for I/O devices – Part 1: Generic I/O modules
DSP0.9 MiB
2013-02-12Member only
40
CiA 401-2 version 3.1.0CANopen profile for I/O devices – Part 2: Joysticks
DSP219 KiB
2013-02-12Member only
41
CiA 402-1 version 4.0.0CANopen device profile for drives and motion control – Part 1: General definitions
DSP184 KiB
2016-03-01Member only
42
CiA 402-2 version 4.0.0CANopen device profile for drives and motion control – Part 2: Operation modes and application data
DSP3.5 MiB
2016-03-01Member only
43
CiA 402-3 version 4.0.0CANopen device profile for drives and motion control – Part 3: PDO mapping
DSP592 KiB
2016-03-01Member only
44
CiA 402-4 version 1.0.0CANopen device profile for drives and motion control – Part 4: Safety functionality
DSP2.4 MiB
2015-12-02Member only
45
CiA 402-5 version 1.0.0CANopen device profile for drives and motion control – Part 5: PDO mapping superset
DSP174 KiB
2014-01-31Member only
46
CiA 402-6 version 1.0.0CANopen device profile for drives and motion control – Part 6: CANopen FD PDO mapping
DSP554 KiB
2016-10-10Member only
47
CiA 404 version 1.2.0CANopen device profile for measuring devices and closed-loop controllers
public1.7 MiB
2002-05-15Download
48
CiA 404-1 version 2.1.0CANopen device profile for measuring devices and closed-loop controllers – Part 1: Generic objects and generic PDO mapping
DSP1.3 MiB
2016-07-19Member only
49
CiA 404-2 version 2.0.0CANopen device profile for measuring devices and closed-loop controllers – Part 2: EUROMAP implementation
DSP175 KiB
2013-08-01Member only
50
CiA 406 version 3.2.0CANopen device profile for encoders
public533 KiB
2006-12-18Download
51
CiA 406 version 4.0.2CANopen device profile for encoders
DSP1.5 MiB
2016-08-18Member only
52
CiA 408 version 1.5.2CANopen device profile for fluid power technology proportional valves and hydrostatic transmissions
public2.8 MiB
2005-01-01Download
53
CiA 410 version 1.3.0CANopen device profile for inclinometer
public194 KiB
2010-02-23Download
54
CiA 410 version 2.0.0CANopen device profile for inclinometer
DSP0.9 MiB
2014-03-25Member only
55
CiA 412-1 version 1.0.0CANopen profiles for medical devices - Part 1: General definitions
public159 KiB
2005-12-31Download
56
CiA 412-2 version 1.0.0CANopen profiles for medical devices - Part 2: Automatic X-ray collimator
public658 KiB
2005-12-31Download
57
CiA 412-6 version 1.1.0CANopen profiles for medical devices - Part 6: Dose measurement system
public0.9 MiB
2008-08-27Download
58
CiA 413-1 version 3.0.0CANopen device profile for truck gateways – Part 1: General definitions
DSP138 KiB
2011-11-24Member only
59
CiA 413-2 version 3.0.0CANopen device profile for truck gateways – Part 2: Brake and running gear devices
DSP857 KiB
2011-11-24Member only
60
CiA 413-3 version 3.0.0CANopen device profile for truck gateways – Part 3: Other than brake and running gear devices
DSP1.2 MiB
2011-11-24Member only
61
CiA 413-5 version 1.0.0CANopen device profile for truck gateways – Part 5: Application objects for superstructure
DSP272 KiB
2003-12-31Member only
62
CiA 413-6 version 1.0.0CANopen device profile for truck gateways – Part 6: Framework for J1939-based networks
DSP105 KiB
2003-12-31Member only
63
CiA 413-8 version 1.0.0CANopen device profile for truck gateways – Part 8: Framework for HMI control
DSP167 KiB
2011-11-24Member only
64
CiA 414-1 version 1.1.0CANopen device profiles for weaving machines - Part 1: General definitions
public92 KiB
2007-06-18Download
65
CiA 414-2 version 1.1.0CANopen device profiles for weaving machines - Part 2: Feeders
public243 KiB
2007-06-18Download
66
CiA 415 version 2.2.0CANopen application profile for sensor systems – In road construction and earth moving machines
DSP788 KiB
2009-04-22Member only
67
CiA 416-1 version 2.0.0CANopen application profile for building door control – Part 1: General definitions, start-up procedures and system security
DSP536 KiB
2007-08-28Member only
68
CiA 416-2 version 2.0.0CANopen application profile for building door control – Part 2: Virtual devices overview
DSP292 KiB
2007-08-28Member only
69
CiA 416-3 version 2.0.0CANopen application profile for building door control – Part 3: Pre-defined communication objects and application object specification
DSP1.5 MiB
2007-08-28Member only
70
CiA 417-1 version 2.0.0CANopen application profile for lift control systems – Part 1: General definitions
public210 KiB
2011-02-02Download
71
CiA 417-1 version 2.2.0CANopen application profile for lift control systems – Part 1: General definitions
DSP565 KiB
2015-12-07Member only
72
CiA 417-2 version 2.0.0CANopen application profile for lift control systems – Part 2: Virtual device definitions
public340 KiB
2011-02-02Download
73
CiA 417-2 version 2.2.0CANopen application profile for lift control systems – Part 2: Virtual device definitions
DSP196 KiB
2015-12-07Member only
74
CiA 417-3 version 2.0.0CANopen application profile for lift control systems – Part 3-1: Pre-defined PDOs for lift application 1
public818 KiB
2011-02-02Download
75
CiA 417-3-1 version 2.1.0CANopen application profile for lift control systems – Part 3-1: Pre-defined PDOs for lift application 1
DSP529 KiB
2015-12-07Member only
76
CiA 417-4 version 2.0.0CANopen application profile for lift control systems – Part 4: Detailed application object specification
public839 KiB
2011-02-02Download
77
CiA 417-4 version 2.2.0CANopen application profile for lift control systems – Part 4: Detailed application object specification
DSP1.2 MiB
2015-12-07Member only
78
CiA 418 version 1.2.0CANopen device profile for battery modules
public289 KiB
2012-04-27Download
79
CiA 419 version 1.2.0CANopen device profile for battery chargers
public197 KiB
2012-04-27Download
80
CiA 420-1 version 3.2.0CANopen profiles for extruder downstream devices – Part 1: General definitions
public525 KiB
2015-05-07Download
81
CiA 420-2 version 3.1.0CANopen profiles for extruder downstream devices – Part 2: Puller
public187 KiB
2015-05-07Download
82
CiA 420-3 version 3.1.0CANopen profiles for extruder downstream devices – Part 3: Corrugator
public175 KiB
2015-05-07Download
83
CiA 420-4 version 3.1.0CANopen profiles for extruder downstream devices – Part 4: Saw
public179 KiB
2015-05-07Download
84
CiA 420-5 version 2.1.0CANopen profiles for extruder downstream devices – Part 5: Simple and advanced co-extruder
public197 KiB
2015-05-07Download
85
CiA 420-6 version 1.1.0CANopen profiles for extruder downstream devices – Part 6: Calibration-table
public212 KiB
2015-05-07Download
86
CiA 421-1 version 1.0.0CANopen application profile for train vehicle control networks – Part 1: General definitions
DSP198 KiB
2006-08-18Member only
87
CiA 421-10 version 1.0.0n/a
DSP171 KiB
2006-08-18Member only
88
CiA 421-11 version 1.0.0CANopen application profile for train vehicle control networks – Part 11: Interior lighting system
DSP135 KiB
2006-08-18Member only
89
CiA 421-12 version 1.0.0CANopen application profile for train vehicle control networks – Part 12: Door control system
DSP217 KiB
2006-08-18Member only
90
CiA 421-4 version 1.0.0CANopen application profile for train vehicle control networks – Part 4: Auxillary operating system
DSP203 KiB
2006-08-18Member only
91
CiA 421-5 version 1.0.0CANopen application profile for train vehicle control networks – Part 5: Power (drive) system
DSP1.2 MiB
2006-08-18Member only
92
CiA 421-9 version 1.0.0CANopen application profile for train vehicle control networks – Part 9: Vehicle linkage device
DSP139 KiB
2008-04-17Member only
93
CiA 422-1 version 2.0.0CANopen application profile for municipal vehicles – Part 1: General definitions
DS196 KiB
2010-12-22Member only
94
CiA 422-2 version 2.0.0CANopen application profile for municipal vehicles – Part 2: Virtual device functionality
DS235 KiB
2010-12-22Member only
95
CiA 422-3-1 version 2.0.0CANopen application profile for municipal vehicles – Part 3-1: Pre-defined TPDOs
DS2.6 MiB
2010-12-22Member only
96
CiA 422-3-2 version 2.0.0CANopen application profile for municipal vehicles – Part 3-2: Pre-defined RPDOs
DS1.6 MiB
2010-12-22Member only
97
CiA 422-3-3 version 2.0.0CANopen application profile for municipal vehicles – Part 3-3: Pre-defined SDOs
DS413 KiB
2010-12-22Member only
98
CiA 422-4 version 2.0.0CANopen application profile for municipal vehicles – Part 4: Application objects
DS1.3 MiB
2010-12-22Member only
99
CiA 423-1 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 1: General definitions
DSP89 KiB
2006-08-18Member only
100
CiA 423-10 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 10: Particle filters control unit
DSP198 KiB
2006-08-18Member only
101
CiA 423-11 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 11: Starter unit
DSP95 KiB
2006-08-18Member only
102
CiA 423-12 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 12: Oil refill unit
DSP111 KiB
2006-08-18Member only
103
CiA 423-2 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 2: Traction controller
DSP545 KiB
2006-08-18Member only
104
CiA 423-3 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 3: Diesel engine control unit
DSP404 KiB
2006-08-18Member only
105
CiA 423-4 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 4: Transmission control unit
DSP165 KiB
2006-08-18Member only
106
CiA 423-5 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 5: Diesel engine safety control unit
DSP119 KiB
2006-08-18Member only
107
CiA 423-6 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 6: Speed sensor unit
DSP113 KiB
2006-08-18Member only
108
CiA 423-7 version 1.0.0CANopen application profile for rail vehicle power drive systems – Part 7: Diesel engine signal unit
DSP250 KiB
2006-08-18Member only
109
CiA 424-1 version 1.0.0CANopen application profile for rail vehicle door control systems - Part 1: General definitions
DSP114 KiB
2006-08-18Member only
110
CiA 424-2 version 1.0.0CANopen application profile for rail vehicle door control systems - Part 2: Door controller
DSP304 KiB
2006-08-18Member only
111
CiA 424-3 version 1.0.0CANopen application profile for rail vehicle door control systems – Part 3: Door unit
DSP182 KiB
2006-08-18Member only
112
CiA 425-1 version 2.1.0CANopen application profile for medical diagnostic add-on modules – Part 1: General definitions
DS243 KiB
2011-06-03Member only
113
CiA 425-2 version 2.2.0CANopen application profile for medical diagnostic add-on modules – Part 2: Injector
DS1.4 MiB
2011-06-03Member only
114
CiA 425-2 version 2.3.0CANopen application profile for medical diagnostic add-on modules – Part 2: Injector
DSP1.1 MiB
2013-07-10Member only
115
CiA 426-1 version 1.0.0CANopen application profile for rail vehicle exterior lighting control – Part 1: General definitions
DSP121 KiB
2006-08-18Member only
116
CiA 426-2 version 1.0.0CANopen application profile for rail vehicle exterior lighting control – Part 2: Exterior lighting controller
DSP168 KiB
2006-08-18Member only
117
CiA 426-3 version 1.0.0CANopen application profile for rail vehicle exterior lighting control – Part 3: Exterior lighting unit
DSP280 KiB
2006-08-18Member only
118
CiA 430-1 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 1: General definitions
DSP106 KiB
2006-08-18Member only
119
CiA 430-2 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 2: Auxiliary operating system controller
DSP198 KiB
2006-08-18Member only
120
CiA 430-3 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 3: Power train cooling control unit
DSP146 KiB
2006-08-18Member only
121
CiA 430-4 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 4: Coolant expansion tank unit
DSP103 KiB
2006-08-18Member only
122
CiA 430-5 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 5: Power train cooling fan control unit
DSP115 KiB
2006-08-18Member only
123
CiA 430-6 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 6: Engine pre-heating unit
DSP118 KiB
2006-08-18Member only
124
CiA 430-7 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 7: Hydrostatic signal unit
DSP124 KiB
2006-08-18Member only
125
CiA 430-9 version 1.0.0CANopen application profile for rail vehicle auxiliary operating systems – Part 9: Generator unit
DSP104 KiB
2006-08-18Member only
126
CiA 433-1 version 1.0.0CANopen application profile for rail vehicle interior lighting control - Part 1: General definitions
DSP96 KiB
2006-08-18Member only
127
CiA 433-2 version 1.0.0CANopen application profile for rail vehicle interior lighting control - Part 2: Interior lighting controller
DSP129 KiB
2006-08-18Member only
128
CiA 433-3 version 1.0.0CANopen application profile for rail vehicle interior lighting control -Part 3: Interior lighting unit
DSP235 KiB
2006-08-18Member only
129
CiA 434-1 version 2.0.0CANopen profiles for laboratory automation systems – Part 1: General definitions
DSP579 KiB
2009-04-22Member only
130
CiA 434-2 version 1.0.0CANopen profiles for laboratory automation systems – Part 2: CANopen device profile for dilutor, dispenser and pump units
DSP574 KiB
2010-06-30Member only
131
CiA 434-3 version 1.0.0CANopen profiles for laboratory automation systems – Part 3: CANopen device profile for heating, cooling and shaking units
DSP425 KiB
2010-06-30Member only
132
CiA 436-1 version 1.1.0CANopen application profile for construction machineries – Part 1: General definitions
DSP392 KiB
2010-06-30Member only
133
CiA 437-1 version 1.0.0CANopen application profile for grid-based photovoltaic systems – Part 1: General definitions
DSP541 KiB
2008-01-10Member only
134
CiA 437-2 version 1.0.0CANopen application profile for grid-based photovoltaic systems – Part 2: Pre-defined communication objects
DSP124 KiB
2008-01-10Member only
135
CiA 437-3 version 2.0.0CANopen application profile for grid-based photovoltaic systems – Part 3: Detailed process data specification
DSP1.8 MiB
2012-06-15Member only
136
CiA 442 version 1.0.0CANopen profile for IEC 61915-2 compatible motor starters
DSP196 KiB
2012-03-23Member only
137
CiA 443 version 3.0.1CANopen profile for SIIS level-2 devices
DSP1.2 MiB
2015-04-10Member only
138
CiA 444-1 version 2.0.0CANopen profiles for container-handling machine add-on devices – Part 1: General definitions
DSP132 KiB
2008-12-17Member only
139
CiA 444-2 version 2.0.0CANopen profiles for container-handling machine add-on devices – Part 2: Spreader for crane
DSP444 KiB
2012-06-14Member only
140
CiA 444-3 version 2.0.0CANopen profiles for container-handling machine add-on devices – Part 3: Spreader for straddle carrier
DSP396 KiB
2012-06-14Member only
141
CiA 445 version 1.0.0CANopen device profile for RFID devices
DSP0.9 MiB
2007-08-23Member only
142
CiA 446 version 1.0.0CANopen device profile for AS-Interface gateways
DSP477 KiB
2006-11-06Member only
143
CiA 447-1 version 2.1.0CANopen application profile for special-purpose car add-on devices – Part 1: General definitions
DSP0.9 MiB
2015-12-14Member only
144
CiA 447-2 version 2.1.0CANopen application profile for special-purpose car add-on devices – Part 2: Virtual device definition
DSP179 KiB
2015-12-14Member only
145
CiA 447-3 version 2.1.0CANopen application profile for special-purpose car add-on devices – Part 3: Detailed process data specification
DSP1.6 MiB
2015-12-14Member only
146
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
DSP234 KiB
2015-12-14Member only
147
CiA 450 version 1.0.0CANopen device profile for pumps
DSP2.6 MiB
2010-02-25Member only
148
CiA 452 version 1.0.0CANopen device profile PLCopen motion control
DSP358 KiB
2010-08-31Member only
149
CiA 453 version 1.1.0CANopen device profile for power supply
DSP1.3 MiB
2010-07-20Member only
150
CiA 454-1 version 2.0.0CANopen application profile for energy management systems – Part 1: General definitions
DSP1.2 MiB
2014-06-17Member only
151
CiA 454-13 version 1.0.0CANopen application profile for energy management systems – Part 13: - Generator unit
DSP383 KiB
2014-06-17Member only
152
CiA 454-14 version 1.0.0CANopen application profile for energy management systems – Part 14 - Load unit
DSP330 KiB
2014-06-17Member only
153
CiA 454-2 version 2.0.0CANopen application profile for energy management systems – Part 2: Pre-defined communication parameters and general application objects
DSP817 KiB
2014-06-17Member only
154
CiA 454-3 version 2.0.0CANopen application profile for energy management systems – Part 3: PDO communication
DSP533 KiB
2014-06-17Member only
155
CiA 454-4 version 2.0.0CANopen application profile for energy management systems – Part 4: EnergyBus controller (EBC)
DSP176 KiB
2014-06-17Member only
156
CiA 454-5 version 2.0.0CANopen application profile for energy management systems – Part 5: Voltage converter
DSP859 KiB
2014-06-17Member only
157
CiA 454-6 version 2.0.0CANopen application profile for energy management systems – Part 6: Battery pack
DSP518 KiB
2014-06-17Member only
158
CiA 455 version 1.0.0CANopen application profile for drilling machines
DSP806 KiB
2010-06-30Member only
159
CiA 456 version 1.0.0CANopen device profile for configurable network component
DSP225 KiB
2012-07-11Member only
160
CiA 457 version 1.0.0CANopen device profile for wireless transmission media based CANopen devices
DSP369 KiB
2011-08-09Member only
161
CiA 458 version 1.0.0CANopen device profile for energy measurements
DSP306 KiB
2013-09-09Member only
162
CiA 459-1 version 1.0.0CANopen profile for on-board weighing devices – Part 1: General specification and functional overview
DSP423 KiB
2012-10-02Member only
163
CiA 459-2 version 1.0.0CANopen profile for on-board weighing devices – Part 2: Communication parameter specification
DSP97 KiB
2012-10-02Member only
164
CiA 459-3 version 1.0.0CANopen profile for on-board weighing devices – Part 3: Application parameter specification
DSP379 KiB
2012-10-02Member only
165
CiA 460 version 1.0.0CANopen profile for service robot controller - Associated device and Device-RTC
DSP249 KiB
2012-02-10Member only
166
CiA 461-1 version 1.0.0CANopen profile for weighing devices - Part 1: General definitions
DSP253 KiB
2015-08-10Member only
167
CiA 461-2 version 1.0.0CANopen profile for weighing devices - Part 2: Device profile for load cells
DSP829 KiB
2015-08-10Member only
168
CiA 462 version 1.0.0CANopen device profile for item detection devices
DSP0.9 MiB
2016-05-30Member only
169
CiA 601-1 version 1.0.0CAN FD Node and system design – Part 1: Physical interface implementation
DSP784 KiB
2014-08-04Member only
170
CiA 601-4 version 1.0.0CAN FD Node and system design – Part 4: Ringing suppression
DSP361 KiB
2015-12-18Member only
171
CiA 602-2 version 1.0.0CAN FD for commercial vehicles – Part 2: Application layer
DSP109 KiB
2016-06-30Member only
172
CiA 801 version 1.0.0CANopen automatic bit-rate detection
public0.9 MiB
2005-01-01Download
173
CiA 802 version 1.1.0CAN remote frames: Avoiding of usage
public201 KiB
2010-12-07Download
174
CiA 808 version 1.0.0CAnopen CiA 444 implementation guideline
public219 KiB
2007-02-09Download
175
CiA 810 version 1.0.0CANopen CiA 434 implementation guideline
public1.0 MiB
2010-03-24Download
176
CiA 812 version 1.0.0CANopen use cases for CiA 457 devices
public230 KiB
2011-08-09Download
177
CiA 814-1 version 1.0.0CANopen implementation and user guideline for CiA 417 – Part 1: Bootloader
public649 KiB
2015-12-07Download
178
CiA 850 version 1.0.0CANopen recommended practice - CiA 413 based truck gateway for cranes, hookloaders, and areal working platforms
public398 KiB
2011-11-24Download
179
CiA 852 version 1.0.0CANopen recommended practice for CiA 401-based operator environment sub-systems
public485 KiB
2012-06-21Download

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