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CiA 201207 DS V1.1 CAN Application layer for industrial applications(TC_201to207v01010002)(英文原版协议).pdf
CiA DS 201 to 207 Version 1.1
CAN Application
Layer for industrial
applications
© CAN in Automation e. V.
Contents
*
*
*
*
*
*
*
*
*
*
*
*
CAN in the OSI Reference Model
CiA/DS201
CMS Service Specification
CMS protocol Specification
CMS Encoding Rules
NMT Service Specification
NMT Protocol Specification
DBT Service Specification
DBT Protocol Specification
LMT Service Specification
LMT Protocol Specification
CiA/DS202-1
CiA/DS202-2
CiA/DS202-3
CiA/DS203-1
CiA/DS203-2
CiA/DS204-1
CiA/DS204-2
CiA/DS205-1
CiA/DS205-2
Recommended Standard CAL Module Data Sheet
CiA/DS206
Application Layer Naming Conventions
CiA/DS207
History
Date
Document
Changes
Feb 96
DS202-1
- chapter 4 'Data Types' deleted; numbering of
chapter 5 to 7 changed to 4 to 6;
- definition of segmented remote services of
domains changed; in remote result parameter
'success' becomes mandatory; parameter
'failure' deleted; service description for case of
a failure;
- paragraph 3.4 'CMS Data Types' changed
- document completely revised;
- simplyfication of encoding rules definitions;
new extended data types added
Feb 96
DS202-3
Feb 96
DS203-2
- node connect protocol: definition of parameter
'Node-ID' changed; parameter 'a' (abortion flag)
added; definition of error codes changed;
description of cs 1 and 4 changed;
- added paragraph 3.4 'Usage of Command
Specifiers'
Feb 96
DS204-1
- service ´create user definition´: changed the
Feb 96
DS205-1
DS205-2
definition of a ´free COB definition´
- service 'activate bit timing parameters':
description of parameter 'switch-delay'
changed;
- service ´configure bit timing parameters´:
value ´0´ for parameter table_selector now
references the CiA standard bit timing
parameters as defined in DS102;
- added services and protocols to identifiy nodes
with their LMT Address
Feb 96
DS205-2
- paragraph 5.6 renumbered to 5.5
(5.5 didn´t exist)
Feb 96
Feb 96
DS206
DS207
- new document
- NMT object name syntax: definition of 'NMT-
Address' changed
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.
© CiA 2008
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
CAN in Automation (CiA)
International Users and Manufacturers Group e.V.
CAN Application Layer for Industrial Applications
CiA/DS201
February 1996
CAN in the OSI Reference Model
1.
SCOPE
2.
REFERENCES
3.
DEFINITIONS, ACRONYMS AND ABBREVIATIONS
CAL:
CAN:
CMS:
COB:
COB-ID:
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4.
THE CAN REFERENCE MODEL
Controller Area Network (CAN)
distributed real-time control applications
open network
4.1 Layered Architecture of CAN
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