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CANopen A i u CANopen Conformance TestC u Modeling u Physical Layer u Communication Objects u Network Management u Identifier Distribution u Framework for Programmable Devices u Electronic Data Sheet (EDS) u Device Profiles CiA CANopen is a networking system based on the CAN serial bus. CANopen assumes that the devices hardware has a CAN transceiver and CAN controller as specified in ISO 11898. CANopen profile family specifies standardized communication mechanisms and device functionality. The profile family is available and maintained by CAN in Automation (CiA), the international users and manufacturers group and may be implemented license-free. The CANopen specifications cover application layer and communication profile (CiA DS-301) as well as a framework for programmable devices (CiA DSP-302), recommendations for cables and connectors (CiA DRP-303-1) and SI units and prefix representations (CiA DRP-303-2). Additional application-specific frameworks may apply in parallel. CANopen is supplemented by a number of standardized device profiles, interface profiles as well as application profiles (CiA DS-4XX). CANopen was originally designed for motion-oriented industrial control systems, such as handling systems. But CANopen networks are also used in other application fields, e.g. public transportation, off- road vehicles, medical equipment, maritime electronics, and building automation. © CiA u Am Weichselgarten 26 u D-91058 Erlangen u headquarters@can-cia.de

CANopen Reference Model CANopen Reference Model Device Device Profile Profile Interface Interface Profile Profile Application Application Profile Profile Manager Manager Profile Profile manu- manu- facturer- facturer- specific specific Profile Profile Frameworks (e.g. for Programmable Devices) Frameworks (e.g. for Programmable Devices) Communication Profile(s) Communication Profile(s) Application Layer Application Layer Data Link Layer and High-Speed Transceiver (ISO 11898) Data Link Layer and High-Speed Transceiver (ISO 11898) Bit-Timing and Connector Pin-Assignment Bit-Timing and Connector Pin-Assignment bus lines CiA The CANopen communication concept can be described similar to the ISO Open Systems Interconnection (OSI) Reference Model. CANopen represents a standardized application layer and communication profile. The optional framework for programmable devices specifies additional communication functionality. CANopen is based on the CAN data link layer and high-speed transceiver as specified in ISO 11898, part 1 and part 2. In addition, CANopen specifies bit-timing and recommends pin-assignments for some connectors. The standardized device profiles, interface profiles, and application profiles describes the default behavior and the optional functionality of devices, interfaces, and applications. © CiA u Am Weichselgarten 26 u D-91058 Erlangen u headquarters@can-cia.de

Protocol Layer Interactions Protocol Layer Interactions Transmitting Device CANopen Application Layer CAN Data Link Layer CAN Physical Layer Object at Index ID + Data ... ID + data CAN_L CAN_L CAN_H Receiving Device CANopen Application Layer CAN Data Link Layer CAN Physical Layer CiA The protocol layer interactions describe the communication on the different layers. On the CANopen application layer the devices exchanges communication and application objects. All these objects are accessible via a 16-bit index and «8-bit sub-index. These communication objects (COB) are mapped to one or more CAN frames with pre-defined or configured Identifiers. The CAN physical layer specifies the bit level including the bit-timing. © CiA u Am Weichselgarten 26 u D-91058 Erlangen u headquarters@can-cia.de

Bit-Timing Specification Bit-Timing Specification Time Quantum (TQ) Sample Point 1 Mbit/s TQ=125ns 800 kbit/s TQ=125ns 10-500 kbit/s TQ=250ns.. 6,25ms 1 2 3 4 5 6 7 8 Nominal Bit Time 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 CiA At a bitrate of 1 Mbit/s the bit consists out of 8 time quanta, at 800 kbit/s out of 10 time quanta and from 500 kbit/s to 10 kbit/s out of 16 time quanta. CANopen uses single sampling mode only. © CiA u Am Weichselgarten 26 u D-91058 Erlangen u headquarters@can-cia.de

Bit-Timing (2) Bit-Timing (2) Length of Location of Index Bit rate Nominal bit time Number of time quanta time Bus length (1) 1 Mbit/s 25 m tb 1 ms 800 kbit/s 1.25 ms 50 m 500 kbit/s 2 ms 100 m 250 kbit/s 250 m (2) 125 kbit/s 500 m (2) 50 kbit/s 1000 m (3) 20 kbit/s 2500 m (3) 10 kbit/s 5000 m (3) 4 ms 8 ms 20 ms 50 ms 100 ms per bit quantum tq 8 10 16 16 16 16 16 16 125 ns 125 ns 125 ns 250 ns 500 ns 1.25 ms 3.125 ms 6.25 ms sample point 6 tq (750 ns) 8 tq (1 ms) 14 tq (1.75 ms) 14 tq (3.5 ms) 14 tq (7 ms) 14 tq (17.5 ms) 14 tq (43.75 ms) 14 tq (87.5 ms) 0 1 2 3 4 5 6 7 CiA Every module has to support one of the specified bit rates. The rounded bus length estimation (worst case) on basis 5 ns/m propagation delay and a total effective device-internal in-out delay is as follows: 1M - 800 kbit/s: 500 - 200 kbit/s: 210 ns 300 ns (includes 2 x 40 ns for optocouplers) 450 ns (includes 2 x 100 ns for optocouplers) 1,5 time quanta; effective delay = delay recessive to dominant plus dominant to recessive divided by two. 125 kbit/s: 50 - 10 kbit/s: For bus length greater than about 200 m the use of optocouplers is recommended. For bus length greater than about 1 km bridge or repeater devices may be needed. © CiA u Am Weichselgarten 26 u D-91058 Erlangen u headquarters@can-cia.de

Pin Assignment Pin Assignment 9-pin D-Sub: DIN 41652 - - Reserved CAN_L bus line dominant low CAN Ground Reserved Pin Signal Description 1 2 CAN_L 3 CAN_GND 4 5 (CAN_SHLD) Optional CAN Shield 6 GND 7 CAN_H 8 - 9 (CAN_V+) Optional Ground CAN_H bus line dominant high Reserved Optional CAN external positive supply CiA The physical medium for CANopen devices is a differentially driven two-wire bus line with common return according to ISO 11898. The CiA DRP-303-1 CANopen recommendation defines the pinning of the 9-pin D-sub connector (DIN 41652 or corresponding international standard), the 5-pin mini style connector, the open style connector, the multi-pole connector, and other connectors. The 9-pin D-Sub connector pinning complies to CiA DS-102. © CiA u Am Weichselgarten 26 u D-91058 Erlangen u headquarters@can-cia.de

Mini Style Connector Mini Style Connector 5-pin Mini Style Connector : ANSI/B93.55M-1981 male 3 female 3 4 5 2 2 1 1 4 5 If 5-pin Mini Style Connectors are used the following pinning applies: Pin 1 2 3 4 5 Signal Description (CAN_SHLD) Optional CAN Shield (CAN_V+) CAN_GND CAN_H CAN_L Optional CAN external positive supply (dedicated for supply of transceiver and optocouplers, if galvanic isolation of the bus node applies) Ground / 0V / V- CAN_H bus line (dominant high) CAN_L bus line (dominant low) CiA © CiA u Am Weichselgarten 26 u D-91058 Erlangen u headquarters@can-cia.de

Open Style Connector Open Style Connector Open Style Connector female male 3 1 2 4 5 1 2 3 4 5 If Open Style Connectors are used the following pinning is recommended: Pin 1 2 3 4 5 Signal CAN_GND CAN_L Description Ground / 0 V / V- CAN_L bus line (dominant low) (CAN_SHLD) Optional CAN Shield CAN_H (CAN_V+) CAN_H bus line (dominant high) Optional CAN external positive supply (dedicated for supply of transceiver and optocouplers, if galvanic isolation of the bus node applies) CiA © CiA u Am Weichselgarten 26 u D-91058 Erlangen u headquarters@can-cia.de

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