Higher Level Protocols - CAN System Engineering - page 185

Table 4.6 Generic and application-specific CANopen device profiles
Number Description Status

CiA 401 Generic I/O modules Free available

CiA 402 Drives and motion control Only for members

CiA 404 Measuring devices and closed-loop controllers Free available

CiA 406 Encoders (rotating and linear) Free available

CiA 408 Fluid power technology Free available

CiA 410 Inclinometer Free available

CiA 412 Medical devices Only for members

CiA 413 J1939-to-CANopen gateways Only for members

CiA 414 Weaving machines Free available

CiA 418 Battery modules Free available

CiA 419 Battery charger Free available

CiA 420 Extruder downstream devices Free available

CiA 425 Medical add-on devices Only for members

CiA 444 Crane add-on devices (e.g. spreader) Only for members

CiA 445 RFID reader Only for members

CiA 446 AS-Interface gateway Only for members

the configured time, an emergency message is sent and the delayed reception will be
ignored. The SYNC message is transmitted by default with the CAN identifier 128.
The time message is also based on the producer/consumer principle. The mes-
sage contains a 6-byte value given in milliseconds after the 1 January 1984. The
predefined CAN identifier is 256 and can be configured in the corresponding time
COB ID (1012 h ). With the time message, it is possible to do a network-wide time
synchronization of the local timer units in the CANopen devices.
For transmission of safety-oriented information, special CANopen safety pro-
tocols, described in CiA 304, are available. The safety-related data object (SRDO)
protocol uses two CAN identifiers that differ in at least 2 bits. Both frames are
transmitted periodically, whereas the time interval between them is not allowed to
exceed a certain value. The data of both frames are bitwise inverted and are double-
checked by the consumers of the data. This concept of serial redundancy with inte-
grated time expectation is able to detect all single faults. Due to this, the CANopen
safety protocol is suitable for a safe data transmission up to Safety Integrity Level
(SIL) 3 according to International Electrotechnical Commission (IEC) 61508.

4.1.6 Device Profiles

CANopen is one of the most standardized communication systems. This does not
only apply to the communication protocols, specified in CiA 301 and CiA 302,
but also apply to a variety of generic and application-specific device profiles (see
Table 4.6 ). Device profiles specify the interface to the application program of a
device in terms of process data and configuration parameter, which are normally
writable and/or readable, in the range of 6000 h -67FF h in the object dictionary.