1. General information
10 Festo P.BE-CMMP-CO-SW-EN 0708NH
1.2 CANopen
CANopen is a standard worked out by the "CAN in Automation" association. A number of
device manufacturers are organised in this association. This standard has largely replaced
the current manufacturer-specific CAN protocols. As a result, the end user has a
manufacturer-independent communication interface.
The following manuals, among others, can be obtained from this association:
CiA Draft Standard 201 … 207
These documents cover the general 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 DS201 … 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 DS301 is recommended but not
absolutely necessary.
CiA Draft Standard 402
This book covers concrete implementation of CANopen in drive regulators. Although all
implemented objects are also briefly documented and described in this CANopen manual,
the user should have this book available.
CAN in Automation (CiA) International Headquarters
Am Weichselgarten 26
D-91058 Erlangen
Tel.: 09131-601091
Fax: 09131-601092
www.can-cia.de
The CANopen implementation of the motor controller is based on the following
standards:
CiA Draft Standard Proposal 402,
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