Canopen; Canopen Standards - Festo CiA 402 Manual

2

CANopen

2 CANopen
This part of the documentation describes the connection and configuration of the motor controller in a
CANopen network. It is directed at people who are already familiar with this bus protocol.
2.1

CANopen standards

CANopen is a standard developed by the "CAN in Automation" association. Numerous device manufac-
turers are organised in this network. This standard has largely replaced the current manufacturer-spe-
cific CAN protocols. As a result, the end user has a non-proprietary communication interface.
The following manuals, among others, can be obtained from this association:
CiA 201 ... 207:
These documents cover the general basic principles and embedding of CANopen into the OSI layered
architecture. The relevant points of this book are presented in this CANopen manual, so procurement of
CiA 201 ... 207 is generally not necessary.
CiA 301:
This document describes the fundamental design of the object directory of a CANopen device and ac-
cess to it. The statements of CiA201 ... 207 are also made concrete. The elements of the object direct-
ory needed for the CMMS motor controller families and the related access methods are described in
this manual. Procurement of CiA 301 is recommended but not unconditionally necessary.
CiA 402:
This document deals with the concrete implementation of CANopen in drive controllers. Although all
implemented objects are also briefly documented and described in this CANopen manual, the user
should have this documentation available.
Source address:
CAN in Automation (CiA) International Headquarters
Am Weichselgarten 26
D-91058 Erlangen
Tel.: +49 (0)9131-601091
Fax: +49 (0)9131-601092
www.can-cia.de
The CANopen implementation of the motor controller is based on the following standards:
1
CiA Draft Standard 301,
2
CiA Draft Standard Proposal 402,
10
Version 4.02,
Version 2.0,
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
13. February 2002
26. July 2002