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CiA 306 Electronic data sheet specification Version: 1.3.0 01 January 2005 ! CAN in Automation (CiA) e. V.

DS 306 V1.3 Electronic data sheet specification CiA History Date Version Changes 2005-01-01 1.3 Publication as Draft Standard General information on licensing and patents CAN in AUTOMATION (CiA) calls attention to the possibility that some of the elements of this CiA specification may be subject of patent rights. CiA shall not be responsible for identifying any or all such patent rights. Because this specification is licensed free of charge, there is no warranty for this specification, to the extent permitted by applicable law. Except when otherwise stated in writing the copyright holder and/or other parties provide this specification “as is” without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the correctness and completeness of the specification is with you. Should this specification prove failures, you assume the cost of all necessary servicing, repair or correction. Trademarks CANopen® and CiA® are registered community trademarks of CAN in Automation. The use is restricted for CiA members or owners of CANopen vendor ID. More detailed terms for the use are available from CiA. © CiA 2005 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from CiA at the address below. CAN in Automation e. V. Kontumazgarten 3 DE - 90429 Nuremberg, Germany Tel.: +49-911-928819-0 Fax: +49-911-928819-79 Url: www.can-cia.org Email: headquarters@can-cia.org 2 © CiA 2005 – All rights reserved

DS 306 V1.3 Electronic data sheet specification CiA Contents 1 Scope ...................................................................................................................................................... 4 2 References ............................................................................................................................................. 5 3 Abbreviations and definitions ............................................................................................................ 6 3.1 Abbreviations.................................................................................................................................... 6 3.2 Definitions ......................................................................................................................................... 7 4 Electronic data sheet specification ................................................................................................... 8 4.1 General ............................................................................................................................................. 8 4.2 Basic structure.................................................................................................................................. 8 4.3 Entry value interpretation................................................................................................................. 9 4.4 File information............................................................................................................................... 11 4.5 General device information ........................................................................................................... 12 4.6 Object dictionary ............................................................................................................................ 14 4.6.1 General .................................................................................................................................... 14 4.6.2 Mapping of dummy entries ..................................................................................................... 14 4.6.3 Object descriptions.................................................................................................................. 15 4.6.4 Object links .............................................................................................................................. 20 4.6.5 Comments ............................................................................................................................... 20 5 Device configuration file DCF........................................................................................................... 22 5.1 General ........................................................................................................................................... 22 5.2 File information section.................................................................................................................. 22 5.3 Object sections............................................................................................................................... 22 5.3.1 Parameter value in standard description............................................................................... 22 5.3.2 Denotation ............................................................................................................................... 23 5.3.3 Compact storage ..................................................................................................................... 23 6 Module concept ................................................................................................................................... 26 6.1 General ........................................................................................................................................... 26 6.2 Electronic data sheet ..................................................................................................................... 26 6.2.1 Assignment of extension modules ......................................................................................... 26 6.2.2 PDOs........................................................................................................................................ 26 6.3 Module description......................................................................................................................... 27 6.4 Device configuration file ................................................................................................................ 28 6.5 Example .......................................................................................................................................... 29 © CiA 2005 – All rights reserved 3

DS 306 V1.3 Electronic data sheet specification CiA 1 Scope The usage of devices in a communication network requires configuration of the device parameters and communication facilities. CANopen defines a standardised way to access these parameters via the object dictionary. For handling of the complexity of CANopen systems software tools are required. This reduces the complexity of the planning, configuration and analysis process and significantly increases the security of the system. For this purpose software tools need an electronic description of the CANopen devices. To allow the usage of manufacturer independent tools, this document defines a standardised file format – called Electronic Data Sheet. Furthermore some derived file formats are specified. The Device Configuration File describes a concrete incarnation of a device configuration. The Module Data Sheet describes modules of devices with a modular structure. 4 © CiA 2005 – All rights reserved

DS 306 V1.3 Electronic data sheet specification CiA 2 References /CiA301/ CiA 301, CANopen application layer and communication profile /CiA302/ CiA 302, CANopen framework for CANopen managers and programmable CANopen devices /CiA401/ CiA 401, CANopen device profile generic I/O modules /CiA405/ CiA 405, CANopen interface and device profile for IEC 61131 programmable devices /ISO646/ ISO/IEC 646, ISO 7-bit coded character set for information interchange © CiA 2005 – All rights reserved 5

DS 306 V1.3 Electronic data sheet specification CiA 3 Abbreviations and definitions 3.1 Abbreviations ASCII American standard code for information interchange CAN COB Controller area network Communication object COB-ID COB identifier CR DCF DIN EBNF EDS ID ISO LF LSS MD MDS NMT OS OSI PDO RPDO SDO TPDO Carriage return Device configuration file Deutsches Institut für Normung Extended Backus-Naur form Electronic data sheet Identifier International standardisation organisation Line feed Layer settings specification Module description Module data sheet Network management Operation system Open systems interconnection Process data object Receive PDO Service data object Transmit PDO 6 © CiA 2005 – All rights reserved

DS 306 V1.3 Electronic data sheet specification CiA 3.2 Definitions The definitions given in /CiA301/ and /CiA405/ shall apply to this specification, too. Notation for the time: hh:mm (AM/PM) hh: mm: two decimal digits which represent the hours two decimal digits which represent the minutes (AM/PM) two characters which represent if the time is located forenoon or afternoon Notation for the date: mm:dd:yyyy mm: dd: yyyy two decimal digits which represent the month two decimal digits which represent the day four decimal digits which represent the year © CiA 2005 – All rights reserved 7

DS 306 V1.3 Electronic data sheet specification CiA 4 Electronic data sheet specification 4.1 General In order to give the user of a CANopen device more support the device description shall be available in a standardised way. This gives the opportunity to create standardised tools for: • Configuration of CANopen devices, • Designing networks with CANopen devices, • Managing project information on different platforms. Therefore two types of files are introduced to define a CANopen device with electronically means. An EDS may be used to describe the: • Communication functionality and objects as defined in /CiA301/ and Application Frameworks • Device specific objects as defined in the device profiles The EDS serves as template for a device „XY“ of the vendor „UV“. The DCF describes the incarnation of a configured device not only with the objects but also with the values of the objects. Furthermore it contains a value for the bitrate of a device and for the node-ID. EDS DFC device Electronic Data Sheet - serves as template for different configu- rations for one device type 1000 kBit/s ID = 2 250 kBit/s ID = 55 20 kBit/s ID = 110 Figure 1: EDS structure An EDS is supplied by the vendor of a particular device. If a vendor provides no EDS for his CANopen devices a default EDS might be used. The default EDS comprises all entries of a device profile for a particular device class. The user shall be aware, that the description is different from the concretely implemented features of that device, what may cause severe problems! 4.2 Basic structure The files are ASCII-coded, the /ISO646/ character set shall be used. The lines shall be ended by a LF character or by a CR / LF combination. The total length of a line shall not exceed 255 characters. 8 © CiA 2005 – All rights reserved

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