1

CAN

© CiA

CiA mission statementThe aim of the 1992 established non-profit organization

is to promote CAN’s image and to provide a path for

future developments of the CAN technology. An

important part of the organization’s effort is spent to

develop and maintain the CANopen specifications as

well as the support of all other internationally

standardized CAN-based higher-layer protocols.

Controller Area Network is an internationally standardized serial

communication system (ISO 11898 series).

CANopen is an internationally standardized application layer (EN 50325-4),

the CANopen Safety protocol is standardized (EN 50325-5), too.

CAN

© CiA

History of CAN1986

First public announcement at SAE conference in Detroit (USA)

1988

First CAN controller chips available

1991

Bosch CAN 2.0 A/B specification

1993

ISO 11898 standard (high-speed transmission and data link layer)

2003

ISO 11898-1 (data link layer)

ISO 11898-2 (high-speed physical layer)

2004

ISO 16845 (CAN conformance test)

ISO 11898-4 (time-triggered CAN)

2006

ISO 11898-3 (fault-tolerant physical layer)

ISO 11898-5 (low-power, high-speed physical layer)

201X

ISO 11898-6 (high-speed physical layer with partial wake-up)

2

CAN

© CiA

Multiple chip sources

CAN transceiver and protocol controller chips are available from many sources.

No additional active network components such as hubs, switches, etc. are required.

CAN

© CiA

History of CANopen

1993

ESPRIT project ASPIC (CAL-based communication profile)

1994

CAL-based communication profile version 1.0

1995

CAL-based communication profile version 1.1

1995

CiA 301 CANopen application layer version 2.0 (DSP)

1996

CiA 301 CANopen application layer version 3.0 (DS)

1999

CiA 301 CANopen application layer version 4.0 (DS)

2007

CiA 301 CANopen application layer version 4.2 (DSP)

DS

(P)

= d

raft

sta

nd

ard

(p

rop

osa

l)

3

CAN

© CiA

CANopen specificationsCiA301 CiA302 CiA303 CiA304 CiA305 CiA306CiA307 CiA308 CiA309 CiA310 CiA311 CiA312CiA313 CiA401 CiA402 CiA404 CiA405 CiA406CiA408 CiA410 CiA412 CiA413 CiA414 CiA415CiA416 CiA417 CiA418 CiA419 CiA420 CiA421CiA422 CiA423 CiA424 CiA425 CiA426 CiA427CiA428 CiA429 CiA430 CiA431 CiA432 CiA433CiA434 CiA435 CiA436 CiA438 CiA439 CiA440CiA441 CiA442 CiA443 CiA444 CiA445 CiA446CiA447 CiA448 CiA449 CiA450 CiA451 CiA452

1995: 60 DIN A4 pages 2010: 8000+ DIN A4 pages

CAN

© CiA

! Network Management protocols:

! NMT Message protocol

! Boot-up protocol

! Error Control protocols

- Heartbeat protocol

- (Node guarding protocol)

! Service Data Object (SDO) protocols

! Standard SDO protocols

! SDO block protocols

! Process Data Object (PDO) protocol

! Special object protocols:

! Synchronization (SYNC) protocol

! Time Stamp (TIME) protocol

! Emergency (EMCY) protocol

Communication protocols

4

CAN

© CiA

Additional CANopen functions• CANopen manager

• NMT master (controls the NMT slave state machines)

• SDO manager (serves SDO requesting devices)

• Configuration manager (configures NMT slave devices)

• Flying NMT master (provides NMT master redundancy)

• Programmable device• Network variables (to be mapped in PDOs)

• IEC 61131 function blocks

• Bus-line redundancy

• Switches from Default CAN to Redundant CAN and vice versa

• Safety-related communication

• SRDO protocol (transmits process data conform to SIL3)

• Layer setting services• Node-ID or bit-timing configuration via the CANopen network

• Identifying not configured CANopen device

• CANopen bridge/router (up to 127 networks)• Remote SDO

• Remote Emergency

• System variables (to be mapped into PDOs)

CiA 302

CiA 304

CiA 305

CiA 309

CAN

© CiA

Conformance testing

Electronic

data

sheet (EDS)

Lower

profile

test

(LPT)

Device under

test (DUT)

CAN messages

Upper profile

test (UPT)

I/O lines

Test request

Test response

5

CAN

© CiA

CANopen plug-fests

• CAN lower layers: Coexisting (e.g. bit-timing, CAN-IDs)

• CANopen application layer: Interconnectivity (e.g. SDO, NMT, Heartbeat)

• CANopen profile: Interoperability (e.g. PDO, EMCY, SDO)

CAN

© CiA

Sub-sea instrumentation

CANopen

manager

Sensor

Meter

Sensor

Meter

...

...

...

Top-level

controller

Ethernet-based

network

(SIIS level-3),

e.g. ModbusTCP

CiA 443 networks

(SIIS level-2)Ocean-ground

Up to 20

redundant

CANopen

networks

connecting

sensors,

meters, and

valves

6

CAN

© CiA

Ethernet/CANopen gateway

Ethernet/

CANopen

gateway

Ethernet net 1

CANopen net 1

CANopen net n

Ethernet net nALLEN-BRADLEY

7 8 9

4 5 6

1 2 3

. 0 -

<-----------------'

<

-

-

F1

F6

F2

F7

F3

F8

F4

F9

F5

F1

0

PanelView 550

< >

^

v

CAN

© CiA

Gateway protocolsCommand

Answer

Request

Confir-

mation

Indication

Response

CANopenDEVICE(S) DEVICE(S)EthernetGATEWAY DEVICE

Gateway

application

Request

Confir-

mation

Command

Answer

Indication

Response

Command

Answer

Request

Confir-

mation

Indication

Response

Request

Confir-

mation

Command

Answer

Indication

Response

CiA 309

CiA 301

7

CAN

© CiA

TCP/IP-to-CANopen (CiA 309)SDO access services

Upload SDO, Download SDO, Configure SDO timeout

PDO access services

Configure RPDO, Configure TPDO, Read PDO data, Write PDO data, RPDO received

CANopen NMT services

Start node, Stop node, Set node to pre-operational, Reset node, Reset communication,

Enable node guarding, Disable node guarding, Start heartbeat consumer, Disable

heartbeat consumer, Error control event received

Device failure management services

Read device error, Emergency event received

CANopen interface configuration services

Initialize gateway, Store configuration, Restore configuration, Set heartbeat producer,

Set node-ID, Start emergency consumer, Stop emergency consumer

Gateway management services

Set default network, Set default node-ID, Get version

Controller management services

Reset controller, Start controller, Stop controller

CAN

© CiA

CiA 309 protocols

43 (2Bh) 13 (0Dh)

Functioncode

MEI

type

1 to m byte n byte

Protocol

option fieldsAddress and

data fields

ASCII protocol

[[net] node] start

1 8 start

CiA

309

-4

CiA

309

-3

CiA

309

-2

Specification is in progress

8

CAN

© CiA

CANopen-to-CANopen router device

Local

CANopen

IF

Local CANopen-based network

Router

functional

elements

Remote

CANopenIFs

(up to 31)

Remote

CANopen-based

network 1

Remote

CANopen-based

network 31

to

CiA 302-7 CANopen router

CANopen-based networks:

- CAN-based

- Ethercat

- Ethernet-Powerlink

- Safetynet

- Varan (Ethernet)

CAN

© CiA

Application master

CANopen-to-CANopen

router

CANopen-to-CANopen

router

CANopen-to-CANopen

routere

NMT slave NMT slave

NMT slave NMT slave

NMT slave NMT slaveNMT slave

NMT slave NMT slave

NMT slave

NMT slave

NMT slave

NMT master

NMT master

NMT master

NMT master

Hierarchical networks

9

CAN

© CiA

CANopen-to-CANopenrouter

CANopen

device

CANopen-to-CANopenrouter

CANopen-to-CANopen

router

CANopen-to-CANopen

router

CANopen

device

network ID = 1

network

ID = 4

network

ID = 3

network

ID = 5

network

ID = 2

network

ID = 6

network ID = 7

Non-hierarchical networksCA

N

© CiA

CANopen-to-CANopen router device

Router functional elements

to

CANopen IF 1

(port 1)

SDO

NMT

EMCY

PDO Error

control

OD 1

CANopen IF 2

(port 2)

CANopen IF 32

(port 32)

Remote SDORemote NMT request Remote EMCYRemote error control

CANopen over CAN, Ethernet-based, or wireless networks

SDO

NMT

EMCY

PDO Error

control

OD 2

SDO

NMT

EMCY

PDO Error

control

OD 32

Router functional elements

10

CAN

© CiA

Semi-distributed system

EEEEEEEE

CTRL

CTRL

M

Subsystem 1

CTRL

CANopen 2

CTRL

HMI

CANopen 1

EEEEEEEE

CTRL

CTRL

Subsystem 2

M

CANopen 3

CAN

© CiA

CiA 302-7 implementation

Vehicle controller

Sub-controller Sub-controller Sub-controllerSub-controllerSub-controller

CANopen network (CN) 1CANopen manager (CM) 1

D1 Dn

CN 2

CM 2

D1 Dn

CN 3

CM 3

D1 Dn

CN 4

CM 4

D1 Dn

CN 5

CM 5

D1 Dn

CN 6

CM 6

Sandvik

Tam

rock

11

CAN

© CiA

XML device description

Parameter

Kommuni-

kation

CANopen

Kommuni-

kation

ModbusTCP

Kommuni-

kation

EthernetPowerlink

Kommuni-

kation

EtherCAT

Device<ISO15745Profile>

<ProfileHeader>

<ProfileTechnology>

EtherCAT

</ProfileTechnology>

</ProfileHeader>

<ProfileBody>

:::

</ProfileBody>

</ISO15745Profile>

<ISO15745Profile>

<ProfileHeader>

<ProfileTechnology>

Ethernet Powerlink

</ProfileTechnology>

</ProfileHeader>

<ProfileBody>

:::

</ProfileBody>

</ISO15745Profile>

:::::

CAN

© CiA

EDS for device design

Object

dictionary

CANopen device

EDS in

XML or

ASCIII

Read in

Generates CANopen protocol

stack and object dictionary

CANopen device design tool

CiA

specifi-

cations

in XML

12

CAN

© CiA

Tool-chain support

! Standard CANopen network design

process serves well also the application

interface management

! Most of the required design,

manufacturing and service tools are

commercially available

! The missing conversion tools are simple

and can efficiently integrated as an integral

part of the tool-chain

! Standard CANopen network design

process can be followed even if the

application platforms are not fully CANopen

compatible

Heikki Saha, Sandvik Mining and

Construction Oy

CAN

© CiA

CANopen applications

Manufacturing: Robot and embedded machine control

Healthcare: Medical devices and laboratory automation

Construction: Lift and door control; mobile machines

Transportation: Truck body applications, car add-on devices,

rail vehicles, maritime electronics, e-bikes

Agriculture and forestry: Harvesting machines, cow-sheds

Retail and finance: Vending machines

Science: Telescopes, high-energy physics

Entertainment: Studio equipment, moving cameras, gambling

Communication: Embedded control in satellites

Domestic appliances: Coffee machine, service robots

13

CAN

© CiA

Green energyCiA 437: CANopen

application profile

for photovoltaic

systems

CiA 4XX: CANopen

profile for condition

monitoring in wind

power systems

CAN

© CiA

Energy efficiency

CiA 458: CANopen device profile

for energy consumption measuring

All CANopen

profiles should

include

mechanisms to

safe energy by

means of

standardized

energy saving

modes.

SIG Lift will

introduce different

energy saving

modes and energy

measurements into

the CiA 417

CANopen

application profile

for lift control.

14

CAN

© CiA

Complex sensors and metersCiA 443: CANopen

profile for SIIS level-

2 devices

CiA 4XX: CANopen profile

for condition monitoring

CiA 4XX: CANopen

profile for special meters