CANopen profiles

1. Basics concepts, Dictionary and Family
CANopen Profiles
by Nguyen Hoang Anh
PFIEV K57

2. What is CANopen?
 Wikipedia definition:
“CANopen is a communication protocol and
device
profile specification for embedded systems
used in
automation.
 CANOpen is the communication protocol that is
used by the G-MAS and drives. It has been
standardized by CiA – CAN in the Automation
organization.
 Every CANOpen device has an object
dictionary a list of supported objects that can

3. Basic Terms
 One of the most important properties
of CANopen is the provision of a
standardized device description in the
form of the so-called "object
dictionary".
 This is based on a "table" (device
object dictionary), which has the
same structure for all types of
devices.
 An OD object has a 24-bit address,
made up of the 16-bit index and 8-bit
subindex

4. Object Dictionary (OD)
 Index, the 16-bit address of the object in the dictionary
 Object name, a symbolic type of the object in the entry, such as an
array, record, or simple variable
 Name, a string describing the entry
 Type, gives the datatype of the variable (or the datatype of all
variables of an array)
 Attribute, which gives information on the access rights for this
entry, this can be read/write, read-only or write-only
 The Mandatory/Optional field (M/O) defines whether a device
conforming to the device specification has to implement this object
or not

5. Object Dictionary (OD)

6. Object Dictionary (OD)
 CAN open defines device profiles for typical devices:
 Specification of the most important parameters, data and
functions per device type
 CANopen-compatible devices are interchangeable at the basic
functionality level
 The object dictionary is sub-divided into standardized areas of 4096
entries each:
 1000-1FFF: communication area/communication profile
 2000-5FFF: manufacturer-specific device objects
 6000-9FFF: device profiles
 A000-AFFF: network variables (NWV)

7. Object Dictionary (OD)
The communication area of the object dictionary contains all parameters that
concern the communication behavior. only a few entries themselves are
mandatory; these are the entries [1000sub00], [1001sub00], [1018sub00] and
[1018sub01].

8. Device Profiles
 Although the object dictionary concept allows for structuring the
data that needs to be communicated, there is still something
missing: Which entry in the dictionary is used for what?
 The solution is simple: First of all, there are a few mandatory entries that
all CANopen nodes must support. These include the identity object with
which a node can identify itself and an error object to report a potential
error state. Additional entries are specified by device profiles. Device
profiles describe all the communication parameters and object dictionary
entries that are supported by a certain type of CANopen modules. Such
profiles are available for generic I/O modules, encoders and other
devices.

9. Electronic Data Sheet (EDS)
 The data type and meaning of each OD object must be known
by
the configuration tools ⇒ an electronic data sheet (EDS)
describes
each object dictionary entry
 address (index/subindex), param. name, data type, access
type and
default value
 An EDS is an ASCII file in WIN.INI format, which is used by

10. Electronic Data Sheet (EDS)
 CANopen data types :
 bytes, words and double words, signed/unsigned
 ASCII and Unicode strings
 one-bit boolean data type
 32/64 floating point types in accordance with IEEE 754-1985
 Time_of_day: millisec since midnigh (28 bits) and the days since 1/1/1984
(16 bits)
 byte stream of undefined length (domain

11. Family
 CANopen devices are divided into families.
 Each family has its own object dictionary and specific
definitions.
 The most basic family is the DS301 family.
 All other families are derivatives of this family.
 DS301 – The basic family of CAN devices. It holds the
basic terms and the basic object dictionary that DS301
devices need to support (like object 0x1000 “device type”).

12. Family
 DS301 Family Derivatives:
 DS402 Servo Drives – For example Elmo drives, need to support
additional objects, for example: actual position – object 0x6064.
 DS401 IOs – These devices have Digital/Analog Inputs/Outputs,
user may write to outputs and read from Inputs. These devices may
support objects like write outputs – object 0x6200.
 DS406 encoders - These devices send position via a predefined
method. User may use these positions for application purposes

13. Thank You 

14. Helpful Links - Basic
http://www.esacademy.com/en/library/technical-articles-and-documents/can-
and-canopen/embedded-net
Introduction to the Controller Area Network (CAN - Texas Instruments)
www.ti.com/lit/an/sloa101a/sloa101a.pdf