2 CANopen [X4]
10 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
2 CANopen [X4]
2.1 General information on CANopen
CANopen is a standard worked out by the “CAN in Automation” association. Numerous device manu
facturers are organised in this network. This standard has largely replaced the current manufacturer-
specific 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 Draft Standard 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
DS 201 … 207 is generally not necessary.
CiA Draft Standard 301:
This book describes the fundamental design of the object directory of a CANopen device and access to
it. The statements of DS201 … 207 are also made concrete. The elements of the object directory
needed for the CMMP motor controller families and the related access methods are described in this
manual. Procurement of DS 301 is recommended but not unconditionally necessary.
CiA Draft Standard 402:
This book deals with the specific implementation of CANopen in drive controllers. Although all imple
mented objects are also briefly documented and described in this CANopen manual, the user should
have this book available.
Source address: www.can-cia.de
The CANopen implementation of the motor controller is based on the following standards:
1 CiA Draft Standard 301, Version 4.02, 13 February 2002
2 CiA Draft Standard Proposal 402, Version 2.0, 26 July 2002
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