IG01 SIG02 Programmable devices

Title	Details	Published Size	Status Action
CiA 302-1 version 4.1.0 CANopen additional application layer functions - Part 1: General definitions	Scope This document defines additional services and functionalities that extend the services and functionalities of the CiA 301: CANopen — application layer and communication profile. These additional services and functionalities are not required for CANopen devices, but may be useful for certain types of networks. This includes network management, configuration and program download, network variables and process image, dynamic SDO management, network redundancy, and multi-level networking.	2009-02-02 142 KB	DSP Login
CiA 302-3 version 4.1.0 CANopen additional application layer functions - Part 3: Configuration and program download	Scope This document defines objects and file formats for the configuration manager and for program download and control.	2010-04-08 592 KB	DSP Login
CiA 302-4 version 4.1.0 CANopen additional application layer functions - Part 4: Network variables and process image	Scope In a network programmable CANopen devices can be characterized as a process having input variables and output variables. The set of variables will be arguments of the program and hence will be only known in a final state when the program is written. The arguments are handled as variables located in the object dictionary. The marking of such parameters depends on the programming system (e.g. /IEC61131–3/) and does not fall into the scope of this document. But it can be assumed that there is a set of network variables with the logic attribute EXTERN. Compiling/Linking (or interpreting) a program including EXTERN variables requires relocation information. Within CANopen devices this information is the index (and sub-index) of the variable. Most of the programming systems know the mechanism of a resource definition. This can be used to assign the CANopen attributes (index, sub-index, R/W, assignment of CANopen data type to local data type etc.) to the corresponding symbolic names (variable name in the program). The resource definition may be created with a simple editor by the user or with much more comfort by a configuration tool. Systems with a disk-based file system may exchange the information directly, e.g. via a device configuration file. The names of variables may meet the rules of the underlying programming system. The definition does not fall into the scope of this document. This is the responsibility of the programmer/manufacturer. Defining EXTERN variables requires a rule for distributing the indices. It is called "dynamic index assignment".	2009-02-02 317 KB	DSP Login
CiA 302-5 version 4.1.0 CANopen additional application layer functions - Part 5: SDO manager	Scope CANopen offers a communication mechanism between CANopen devices via SDO. These communication channels are always established between two CANopen devices. For accessing a CANopen device the first time at least one SDO channel per CANopen device is required. This is called the default SDO channel. Only the SDO manager is allowed to use that SDO channel. Simple networks may use SDO channels that are pre-configured between a pair of CANopen devices. This allows direct communication between CANopen devices without the need of a SDO manager. This document defines mechanisms that may be used for plug-n-play networks, without the requirement of a pre-configuration of the network. These mechanisms may be used to establish dynamic SDO connections between CANopen devices. These mechanisms require a specific CANopen device in the network that is able to handle the dynamic request; this CANopen device is called SDO manager. These mechanisms require CANopen devices that are able to perform a dynamic request; these CANopen devices are called SDO Requesting Device (SRD).	2009-02-02 578 KB	DSP Login
CiA 302-7 version 1.0.0 CANopen additional application layer functions - Part 7: Multi-level networking	Scope This specification describes the interface for bi-directional CANopen-to-CANopen communication in multi-level networks. It supports multiple CANopen networks implementing hierarchical and non-hierarchical architectures.	2009-02-02 907 KB	DSP Login
CiA 302-8 version 1.0.0 CANopen additional application layer functions - Part 8: Project management parameters	Scope This part of the additional application layer function documents specifies the project management parameters used for programmable CANopen devices.	2024-04-16 477 KB	DSP Login
CiA 302-9 version 1.0.0 CANopen additional application layer functions - Part 9: Energy saving	Scope This series of specifications defines additional CANopen services and functionalities, especially related to dedicated application requirements. It comprises the following parts: • Part 1: General definitions; • Part 2: Network management; • Part 3: Configuration and program download; • Part 4: Network variables and process image; • Part 5: SDO manager; • Part 6: Network redundancy; • Part 7: Multi-level networking; • Part 8: Project management parameters; • Part 9: Energy saving. This part of the additional application layer function documents specifies the energy saving modes and the related communication parameters for energy saving.	2014-03-27 293 KB	DSP Login
CiA 302-2 version 4.1.0 CANopen additional application layer functions - Part 2: Network management	Scope The definition of the network management includes the definition of the network startup behavior as well as definitions that are related to networks that operate without NMT master, networks with one CANopen device capable of the NMT master mode, and networks with more than one CANopen device capable of the NMT master mode (NMT flying master for higher availability). These definitions are intended to be an add-on to the CANopen application layer and communication profile (see /CiA301/).	2009-02-02 2 MB	DSP Login
CiA 302-6 version 4.1.0 CANopen additional application layer functions - Part 6: Network redundancy	Scope The network redundancy is intended to be an add-on to the CANopen application layer and communication profile (see /CiA301/). It is assumed, that a CANopen device with the need of safety-critical and mission-critical communication can use all the features defined by the communication profile. Safety -critical and mission-critical communication is achieved by the underlying structure defined in this specification. The manufacturer and the system integrator shall take care, that the hardware and software of the CANopen device support the safety-critical and mission-critical function and that the CANopen device is operated within its safety-critical and mission-critical limits.	2009-02-02 512 KB	DSP Login
CiA 303-3 version 1.4.0 Device and network design- Part 3: CANopen indicators	Scope This recommendation describes the communication-related indicators. Additional application- related indicators are either described in the appropriate device profile or are manufacturer-specific.	2012-04-27 237 KB	TR Login