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3.2. CANopen

The CANopen profile was developed under technical supervision of the Steinbeis Transfer Centre for

Automation and is based on layer 7 of CAL specification (CAN Application Layer). Compared to CAL,

CANopen comprises onyl the functions relevant for this application. CANopen is a user-optimized CAL

excerpt and thanks to a simplified system structure and the use of simplified appliances CANopen is

optimized for rapid data exchange in realtime systems.

Applicable standards of the corresponding profiles are administered by the organisation CAN in Automation

(CiA).

Some CANopen benefits:

• easy access to all device and communication parameters

• synchronisation of several appliances

• automated network configuration

• cyclic and event-triggered process data traffic

CANopen provides four communication objects (COB) with different properties:

• process-data objects for realtime data (PDO)

• service-data-objects for parameter and profile transmission (SDO)

• network management (NMT, Heartbeat)

• pre-defined objects (for synchronisation, emergency message)

All device and communication parameters are sectioned in an object directory. One object comprises object

name, data type, number of subindexes, parameter structure and address. According to CiA the object

directory is subdivided in three sections: communication profile, device profile and manufacturer-specific

profile (see object directory).

Manual_GNAMG_CANopen_EN.doc

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Baumer IVO GmbH & Co. KG

21.11.12

Villingen-Schwenningen, Germany