Devicenet - Danfoss VACON 1000 Operating Manual

VACON® 1000 Fieldbus Options
Operating Guide
layer and the data-link layer. The CAN fieldbus itself is not complete, and needs a superior protocol to define the use of 11/29-bit
identifier and 8-byte data.
The CANopen protocol is the superior protocol based on the CAN fieldbus. It is one of the protocols defined and maintained by CiA
(CAN-in-Automation) and was developed based on the CAL (CAN application layer) protocol, using a subset of the CAL communica-
tion and service protocols.
The CANopen protocol contains the application layer and the communication profile (CiA DS 301). It also contains a framework for
programmable devices (CiA 302), recommendations for cables and connectors (CiA 303-1), and SI units and prefix representations
(CiA 303-2).
Device profile CiA
OSI seventh layer
Application layer
OSI second layer
Data link layer
OSI first layer
Physical layer
Illustration 3: OSI Model of the Relation between the CAN Standard and the CANopen Protocol
CANopen uses an object-based method to define a standard device. There is a set of objects for every device, which the network
can visit. Illustration 4 shows the CANopen device model. The object dictionary is the interface between the communication pro-
gram and the superior application program.
The core concept of CANopen is the device object dictionary (OD). It is an orderly set of objects. Every object has a 16-bit index for
addressing and also defines an 8-bit sub-index. Every node in the CANopen network has an object dictionary that includes the pa-
rameters that describe the device and the network behavior. The object dictionary of a node is also described in the electronic data-
sheet (EDS) for the device.
Communication
object
Communication
object
Communication
object
Communication specifications
Illustration 4: CANopen Device Model

2.5 DeviceNet™

DeviceNet is a member of a family of networks that implements the Common Industrial Protocol (CIP
™
Net is managed by ODVA, Inc. (formerly Open DeviceNet Vendors Association, Inc.), a global trade and standards development or-
ganization.
DeviceNet , like other CIP Networks, follows the Open Systems Interconnection (OSI) model, which defines a framework for imple-
™
menting network protocols in seven layers: physical, data link, network, transport, session, presentation, and application. Networks
that follow this model define a complete suite of network functionality from the physical implementation through the application
12 | Danfoss A/S © 2023.09
Device profile CiA
Communication profile CiA DS -301
CAN controller
+ -
+ -
Application
object
Object
dictionary
Application
object
Device specifications
Device profile CiA
CAN 2.0A
ISO 11898
CAN network
AQ454734633756en-000101 / 172K1112
Overview
) at its upper layers. Device-
™