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3.2.2
CANopen
Open System Interconnection (OSI)
CAN
CANopen
1070 072 430-101 (99.11) D
Das Model der CANopen Kommunikation orientiert sich am ISO/OSI Basic
Reference Model.
D ISO 7498, Information Processing Systems – Open System Interconnec-
tion – Basic Reference Model, 1984
Die unteren Schichten des Basic Reference Model basieren auf CAN.
D Robert Bosch GmbH, CAN Specification 2.0 Part B, September 1991
D ISO 11898, Road Vehicles, Interchange of Digital Information – Control-
ler Area Network (CAN) for high-speed Communication, November 1993
Alle CANopen Vorgaben und Richtlinien sind den Spezifikationen des CiA
zu entnehmen:
D CiA/DS 102, CAN Physical Layer for Industrial Applications
D CiA/DS 201, CAN Reference Model, February 1996
D CiA/DS 202-1, CMS Service Specification, February 1996
CiA/DS 202-2, CMS Protocol Specification, February 1996
CiA/DS 202-3, CMS Encoding Rules, February 1996
D CiA/DS 203-1, NMT Service Specification, February 1996
CiA/DS 203-2, NMT Protocol Specification, February 1996
D CiA/DS 204-1, DBT Service Specification, February 1996
CiA/DS 204-2, DBT Protocol Specification, February 1996
D CiA/DS 205-1, LMT Service Specification, February 1996
CiA/DS 205-2, LMT Protocol Specification, February 1996
D CiA/DS 206, Application Specific Data Types, February 1996
D CiA/DS 207, Application Layer Naming Specification, Feb. 1996
D CiA/DS 301, CAL-based Communication Profile, Oct. 1996
Allgemeines und Busanschaltung
3–3
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