CiA® 446: CANopen device profile for AS-Interface gateways

The CiA 446 profile defines the CANopen interface for gateways connecting Actuator Sensor Interface (AS-Interface, here ASI) circuits. The gateway implements single or double ASI-controller functionality with one or two ASI-circuits controlling up to 62 ASI-devices each. The currently valid CiA 446 v. 1.0.0 is based on the AS-Interface specification v. 3.0 released in 2004. The latter is also required for interpretation of CiA 446. When implementing the profile, ASI-gateway manufacturers may supply diverse application fields using the same electronic CANopen interface implementation and simply adapting the required functionality. A system designer may choose between ASI-to-CANopen gateway devices from different manufacturers implementing the same profile-compliant functionality. Off-the-shelf CANopen tools may be used for development, analysis, and maintenance purposes.

The profile specifies five classes of single/double ASI-controllers ranging from an M0 ASI single controller (controls up to 31 ASI-devices) to an M4 ASI double controller (controls up to 124 ASI-devices). Depending on the supported controller functionality up to eight TPDOs and RPDOs are predefined.

The application objects include digital and analog inputs as well as digital and analog outputs for up to 124 ASI-devices in two circuits. Each analog input and output has four 16-bit channels presented as four Integer16 values. The specified ASI-controller flags inform about the possible signal periphery or power failures, configuration status, automatic addressing functionality, as well as about the modes (e.g. normal, off-line) of the controller. The ASI-controller control word allows switching the controller into a certain mode (on-line, off-line, configuration, protected run-time), storing actual configuration, enabling/disabling automatic addressing, and data exchange. The according ASI-controller status word shows whether the required commands were executed correctly. Further, optional lists of active ASI-devices, detected ASI-devices, and of peripheral faults are provided. A possibility to write and to read a list of projected ASI-devices is given. Reading actual ASI-device configurations (e.g. ID code, I/O configuration) as well as writing and reading the permanent ASI-device configuration may be done via appropriate objects. Additionally, the information may be acyclically read/written from/to each ASI-device. The read/write response is then available on the CANopen network via specified objects.

For devices compliant with the profile it is recommended to use connectors and pinning assignments according to CiA 106. The physical layer definitions follow those in CiA 301. For node-ID assignment via the CANopen interface (e. g. for IP67-rated devices), it is recommended to use the CANopen layer setting services (see CiA 305). Support of the emergency message and the Heartbeat functionality is mandatory.

 

Title Details
Published
Size
Status
Action
CiA 106 version 1.1.0 Connector pin-assignment recommendations
Scope

This document recommends the connector pin-assignment for CAN interfaces. This includes the CAN_H and CAN_L pins, the ground pin, and the power supply pins.

2023-07-11 896 KB TR Login
CiA 301 version 4.2.0 CANopen application layer and communication profile
Scope

This specification specifies the CANopen application layer. This includes the data types, encoding rules and object dictionary objects as well as the CANopen communication services and protocols. In addition, this specification specifies the CANopen network management services and protocols. This specification specifies the CANopen communication profile, e.g. the physical layer, the pre- defined communication object identifier connection set, and the content of the Emergency, Time- stamp, and Sync communication objects.

2011-02-21 3 MB PAS Login
CiA 305 version 3.0.0 CANopen layer setting services (LSS) and protocols
Scope

This document specifies the layer setting services (LSS) and protocols for CANopen. These services and protocols are used to inquire or to change the settings of three parameters of the physical layer, data link layer, and application layer on a CANopen device with LSS slave capability by a CANopen device with LSS master capability via the CAN network. The following parameters may be inquired or changed: • Node-ID of the CANopen device; • Bit timing parameters of the physical layer (bit rate); • LSS address compliant to the identity object (1018h)

2013-05-08 2 MB DSP Login
CiA 446 version 1.0.0 CANopen device profile for AS-Interface gateways
Scope

This profile defines the CANopen interface for gateways connecting AS -Interface circuits. One single CANopen logical device supports up to two AS-Interface circuits. The gateway implements AS-interface master functionality.

2006-11-06 1 MB DSP Login