device recovers from bus off state, it has to transmit the boot-
up message and it is recommended to send an Emergency
message with the appropriate error code.
CAN
Controller Area Network (CAN) is a serial bus system originally
developed by the Robert Bosch GmbH. It is internationally
standardized by ISO 11898-1. CAN has been implemented by
many semiconductor manufacturers.
CAN protocol controller
The CAN protocol controller is part of a CAN module
performing data en-/de-capsulation, bit-timing, CRC, bit-
stuffing, error handling, failure confinement, etc.
CAN transceiver
The CAN transceiver is connected to the CAN controller and to
the bus lines. It provides the line transmitter and the receiver.
There are high-speed, fault-tolerant, and single-wire
transceivers available as well as transceivers for power-line or
fiber optic transmissions.
CANopen
Family of profiles for embedded networking in industrial
machinery, medical equipment, building automation (e.g. lift
control systems, electronically controlled doors, integrated
room control systems), railways, maritime electronics, truck-
based superstructures, off-highway and off-road vehicles, etc.
CANopen application
layer
The CANopen application layer and communication profile is
standardized by EN 50325-4. It defines communication
services and objects. In addition, it specifies the Object
Dictionary and the network management (NMT).
CANopen Manager
The CANopen manager is responsible for the management of
the network. The CANopen manager device shall include the
NMT (network management) Master, the SDO (service data
object) manager, and the Configuration manager.
CANopen Safety
Communication protocol allowing transmission of safety-
relevant data. The protocol requires just one physical CAN
network. Redundancy is achieved by sending each message
twice with bit-wise inverted content using two identifiers
differing at least in two bits.
Certification
Official compliance test of components or devices to a specific
standard. CiA officially certifies CANopen devices.
CiA DR 303
Draft recommendation for CANopen cabling and connector
pin assignments, coding of prefixes and SI unit as well as LED
usage.
CiA DS 102
Draft standard for high-speed transmission according to ISO
11898-2 using 9-pin D-sub connectors.
CiA DS 301
The CANopen application layer and communication profile
specification covers the functionality of CANopen NMT
(network management) Slave devices.
CiA DS 401
The CANopen device profile for generic I/O modules covers the
definition of digital and analogue input and output devices.
CiA DS 404
The CANopen device profile for measuring devices and closed-
