ALL CiA SPECIFICATIONS AND RECOMMENDATIONS are reviewed periodically. During the maintenance process, pending comments are discussed and CiA asks its members, whether the document should be updated. The responsible CiA technical groups also decide about the status of the documents. Draft Standard Proposals (DSP) are released as a CiA internal specification without approval by the Interest Group (IG) CANopen. Draft Standards have been approved by the IG CANopen, but they are available for members-only. Public specifications need an additional approval by the IG CANopen and ratification by the Board of Directors.
Many of the CiA specifications are available for free download. For some non-public specifications so-called excerpts are available on CiA’s website. CiA specifications accepted as international standards by ISO or IEC or other authorities are not available from CiA. They have to be purchased by the corresponding organizations. Recently the IEC 61375-3-3 standard (Electronic railway equipment – Train Communication Network (TCN) – CANopen Consist Network) has been approved and will be available soon.
CiA 303 series: Part 1 (version 1.8) describes the pin-assignment for different connectors. In addition, this recommendation contains some hints for the CAN network cabling. Part 2 (version 1.5) recommends the representation of SI units and prefixes, as they should be used in the CANopen device and application profiles. Part 3 (version 1.4) proposes the CANopen LEDs indicating the status of the communication or detected errors. All three parts are free-of-charge downloadable.
CiA 309 series: Devices compliant to this set of specifications links an Ethernet-based device to one or more CANopen networks. Part 1 (version 1.2) defines the communication services to access the CANopen devices from an Ethernet device. Part 2 (version 1.2) specifies the ModbusTCP protocols, and part 3 (version 1.2) describes a generic “ASCII” protocol.
Besides error corrections and editorial improvements, some additional CANopen services have been introduced. In particular, the LSS services as specified in CiA 305 have been added. Other new services include the configuration of TPDO attributes such as event-timer and inhibit-time. “The services defined in CiA 309 are suitable for all CANopen-to-Ethernet gateways,” explained Holger Zeltwanger, CiA’s Managing Director. “For example, it is used for connecting off-shore platform control systems with the CiA 443 subsea trees.” Similar gateways are used for package distribution systems and many other applications with Ethernet backboned CANopen networks.
CiA 418 and CiA 419: The CANopen profile for battery modules and the CANopen profile for battery chargers originally developed for battery-powered forklifts have been updated regarding the PDO mapping. The documents first released in 2002, have been completely revised and re-chaptered. Among others, European Batteries have implemented these CANopen interfaces in their battery management system. CiA has tested the CANopen conformity of them. Etec provides also CANopen interfaces compliant to these profiles. The CANopen tools by Vector support these profiles, as well. The profiles are downloadable free-of-charge from CiA’s website.
CiA 443: The CANopen profile for subsea instruments (version 2.1) has been updated jointly with the SIIS group. Subsea control systems and the related sensors and meters are installed on the ocean ground and protect the oil well drilling. This equipment is nicknamed as “Christmas trees” or “Subsea tree”. The updated version provides a very few new functions (leakage sensor) and clarifications. Also some obvious errors have been corrected. “The CiA 443 profile is good example, how companies benefit from standardized interfaces,” explained Holger Zeltwanger, CiA’s managing director. “The instrument suppliers just need to support one communication technology for different oil and gas operators.” In September 2012, the second CiA 443 plug-fest will take place in England. During this event, the vendors will proof the interoperability of their “subsea” devices.
CiA 442: The CANopen profile for IEC 61915-2 compatible motor starters has been released as Draft Standard Proposal (veriosn 1.0). The IEC standard specifies a bus-independent profile for motor starters, soft starters, and motor management starters. The CiA profile is functional compatible and adds just the mapping to the CANopen application layer (CiA 301). In particular, it specifies the format of the commands and status information as well as the PDO parameters.
The motor (soft) starter continuously controls the three-phase motor’s voltage supply during the start-up phase. They limit the torque. This way, the motor is adjusted to the machine’s load behavior. Mechanical operating equipment is accelerated in a gentle manner.
The benefit of the bus-independent, international standardized profile is that the user saves its software investment, if suppliers or network technologies are changed. The finite state machine is standardized as well as the functional behavior. Of course, the mapping to messages depends on the used network. The CANopen profile pre-defines all PDOs as event-triggered. Synchronous transmission is optionally possible.
CiA 447: The CANopen application for special-purpose car has been updated (version 2.0). Now it is possible to access via the standardized gateway from the CANopen body-builder network also some of the engine control functions. This allows the integration of equipment for handy-capped drivers via the gateway. Audi, Mercedes, Open/Vauxhall, and Volkswagen are the first carmakers supporting this open interface standard. Originally, it was intended for taxi caps and police cars. “This CANopen application profile is supported by German and British police car suppliers as well as by the related police administrations,” explained Holger Zeltwanger, CiA’s managing director. “But we are also addressing other applications such as ambulances.”
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