Standards support

5 minute read

The CANopen standard consists of a series of profiles published by CAN in Automation (CiA). Below is an overview of the (parts of the) profiles implemented in Lely CANopen.

CANopen application layer and communication profile (CiA 301 v4.2.0)

Implemented

Process data object (PDO)
Multiplex PDO (MPDO)
Service data object (SDO)
Synchronization object (SYNC)
Time stamp object (TIME)
Emergency object (EMCY)
Network management (NMT)
Network initialization and system boot-up
Object dictionary
- 1000: Device type
- 1001: Error register
- 1003: Pre-defined error field
- 1005: COB-ID SYNC message
- 1006: Communication cycle period
- 1007: Synchronous window length
- 100C: Guard time
- 100D: Life time factor
- 1012: COB-ID time stamp object
- 1013: High resolution time stamp
- 1014: COB-ID EMCY
- 1015: Inhibit time EMCY
- 1016: Consumer heartbeat time
- 1017: Producer heartbeat time
- 1018: Identity object
- 1019: Synchronous counter overflow value
- 1026: OS prompt: CANopen cat tools
- 1028: Emergency consumer object
- 1029: Error behavior object
- 1200..127F: SDO server parameter
- 1280..12FF: SDO client parameter
- 1400..15FF: RPDO communication parameter
- 1600..17FF: RPDO mapping parameter
- 1800..19FF: TPDO communication parameter
- 1A00..1BFF: TPDO mapping parameter
- 1FA0..1FCF: Object scanner list
- 1FD0..1FFF: Object dispatching list

Not implemented/Application-specific

Object dictionary:
- 1002: Manufacturer status register
- 1008: Manufacturer device name
- 1009: Manufacturer hardware version
- 100A: Manufacturer software version
- 1010: Store parameters
- 1011: Restore default parameters
- 1020: Verify configuration
- 1021: Store EDS
- 1022: Store format
- 1023: OS command
- 1024: OS command mode
- 1025: OS debugger interface
- 1027: Module list

Additional application layer functions (CiA 302 v4.1.0)

Implemented

Network management (CiA 302-2)
- Startup:
  - NMT startup
  - NMT startup simple
  - Start process boot NMT slave
  - Boot NMT slave
  - Check configuration
  - Check NMT state
  - Error status
- Error control:
  - Start error control
  - Error handler
  - Bootup handler
- Object dictionary:
  - 102A: NMT inhibit time
  - 1F80: NMT startup
  - 1F81: NMT slave assignment
  - 1F82: Request NMT
  - 1F84: Device type identification
  - 1F85: Vendor identification
  - 1F86: Product code
  - 1F87: Revision number
  - 1F88: Serial number
  - 1F89: Boot time
  - 1F8A: Restore configuration
Configuration and program download (CiA 302-3)
- Configuration manager:
  - 1F20: Store DCF
  - 1F22: Concise DCF
  - 1F25: Configuration request
  - 1F26: Expected configuration date
  - 1F26: Expected configuration time
- Program download:
  - Check and update program software version
  - Objects for program download on a CANopen manager:
    - 1F55: Expected software identification
    - 1F58: Program data

Not implemented/Application-specific

Network management (CiA 302-2):
- Startup:
  - NMT flying master startup
- Additional NMT master services and protocols
- Object dictionary:
  - 1F83: Request node guarding
  - 1F90: NMT flying master timing parameters
  - 1F91: Self starting node timing parameters
Configuration and program download (CiA 302-3):
- Configuration manager:
  - 1F21: Store format
  - 1F23: Store EDS NMT slave
  - 1F24: Store format EDS NMT slave
- Program download:
  - Bootloader
  - Objects for program download on a CANopen device:
    - 1F50: Program data
    - 1F51: Program control
    - 1F56: Program software identification
    - 1F57: Flash status identification
Network variables and process image (CiA 302-4)
SDO manager (CiA 302-5)
Network redundancy (CiA 302-6)
Multi-level networking (CiA 302-7)

Layer setting services (LSS) and protocols (CiA 305 v3.0.0)

Implemented

Switch state:
- Switch state global
- Switch state selective
Configuration:
- Configure node-ID
- Configure bit timing parameters
Inquiry:
- Inquire LSS address
- Inquire node-ID
Identification:
- LSS identify remote slave
- LSS identify slave
- LSS identify non-configured remote slave
- LSS identify non-configured slave
- LSS Fastscan

Application-specific

Configuration:
- Activate bit timing parameters
- Store configuration

Electronic device description (CiA 306 v1.4.0)

EDS/DCF files can be parsed at runtime or be compiled with a program as a static device description. DCF-to-C can be used to generate a static device description in C from an EDS/DCF file.

Implemented

Electronic Data Sheet and Device Configuration File (CiA 306-1)
- Electronic data sheet specification:
  - General device information
  - Object dictionary:
    - Mapping of dummy entries
    - Object descriptions:
      - Object lists
      - Object description
      - Specific flags
      - Compact storage:
        
        PDO definitions
        
        Array values
- Device configuration file specification:
  - Object sections:
    - Parameter value in standard description
    - Denotation
    - Compact storage:
      - PDO definitions
      - Array values
    - Device commissioning

Not implemented

Electronic Data Sheet and Device Configuration File (CiA 306-1):
- Electronic data sheet specification:
  - File information
  - Object dictionary:
    - Object descriptions:
      - Compact storage:
        
        Network variables
    - Object links
    - Comments
- Device configuration file specification:
  - File information
  - Object sections:
    - Compact storage:
      - Network variables
- Module concept
Profile database specification (CiA 306-2)
Network variable handling and tool integration (CiA 306-3)

Access from other networks (CiA 309 v2.0)

CANopen control is a Class 3 ASCII gateway providing shell-like access to one or more CANopen networks.

Implemented

General principles and services (CiA 309-1)
- SDO access services:
  - SDO upload
  - SDO download
  - Configure SDO time-out
- PDO access services:
  - Configure RPDO
  - Configure TPDO
  - Read PDO data
  - Write PDO data
  - RPDO received
- CANopen NMT services:
  - Start node
  - Stop node
  - Set node to pre-operational
  - Reset node
  - Reset communication
  - Enable node guarding
  - Disable node guarding
  - Start heartbeat consumer
  - Disable heartbeat consumer
  - Error control event received
- Device failure management services:
  - Emergency event received
- CANopen interface configuration services:
  - Initialize gateway
  - Set heartbeat producer
  - Set node-ID
  - Start emergency consumer
  - Stop emergency consumer
  - Boot-up forwarding
- Gateway management services:
  - Set default network
  - Set default node-ID
  - Get version
- Layer setting services:
  - LSS switch state global
  - LSS switch state selective
  - LSS configure node-ID
  - LSS configure bit-rate
  - LSS activate new bit-rate
  - LSS store configuration
  - Inquire LSS address
  - LSS inquire node-ID
  - LSS identify remote slave
  - LSS identify non-configured remote slaves
  - LSS Fastscan
ASCII mapping (CiA 309-3)
- SDO access commands:
  - Upload SDO
  - Download SDO
  - Configure SDO time-out
- PDO access access commands:
  - Configure RPDO
  - Configure TPDO
  - Read PDO data
  - Write PDO data
  - RPDO received
- CANopen NMT access commands:
  - Start node
  - Stop node
  - Set node to pre-operational
  - Reset node
  - Reset communication
  - Enable node guarding
  - Disable node guarding
  - Start heartbeat consumer
  - Disable heartbeat consumer
  - Error control event received
- Device failure management commands:
  - Emergency event received
- CANopen interface configuration access commands:
  - Initialize gateway
  - Set heartbeat producer
  - Set node-ID
  - Set command time-out
  - Boot-up forwarding
- Gateway management access commands:
  - Set default network
  - Set default node-ID
  - Get version
  - Set command size
- Layer setting access commands:
  - LSS switch state global
  - LSS switch state selective
  - LSS configure node-ID
  - LSS configure bit-rate
  - LSS activate new bit-rate
  - LSS store configuration
  - Inquire LSS address
  - LSS inquire node-ID
  - LSS identify remote slave
  - Identify non-configured remote slaves
  - LSS Fastscan

Not implemented

General principles and services (CiA 309-1):
- SDO access services:
  - Extended SDO upload
- Device failure management services:
  - Read device error
- CANopen interface configuration services:
  - Store configuration
  - Restore configuration
  - Set command time-out
- Gateway management services:
  - Set command size
- Controller management services
- Layer setting services:
  - LSS assign node-ID to LSS address
  - LSS complete node-ID configuration
Modbus/TCP mapping (CiA 309-2)
ASCII mapping (CiA 309-3):
- Device failure management commands:
  - Read device error
- CANopen interface configuration commands:
  - Store configuration
  - Restore configuration
- Layer setting commands:
  - LSS assign node-ID to LSS address
  - LSS complete node-ID configuration
Amendment 7 to Fieldbus Integration into PROFINET IO (CiA 309-4)

Generic frame (CiA 315 v1.0.0)

CAN-to-UDP forms a bridge between the CAN bus and UDP by converting CAN frames to and from generic frames.