CiA_DS301_V4.20 Application Layer and Communicati

CiA301CANopenapplicationlayerandcommunicationprofileApplicationlayerandcommunicationprofileVersion:4.2.021February2011©CANinAutomation(CiA)e.V.CANopenapplicationlayerandcommunicationprofile2©CiA2011–AllrightsreservedHISTORYDateChanges1994-11-01Publicationofversion1.0asdraftstandardproposal1995-01-01Publicationofversion1.1asdraftstandardproposal1995-09-22Publicationofversion2.0asdraftstandardproposal1996-10-30Publicationofversion3.0asdraftstandard1999-06-16Publicationofversion4.0asdraftstandard2000-06-01Publicationofversion4.0.1asdraftstandard2002-02-13Publicationofversion4.0.2asdraftstandard2006-08-15Publicationofversion4.1asdraftstandardproposal2007-12-07Publicationofversion4.2asdraftstandardproposal–Editorialcorrectionsandclarifications–Definitionofvendor-ID00000000h–Clarificationsoftheaccesstypedefinitions–AdditionofotherallowedCANphysicallayers2011-02-21Publicationofversion4.2aspublicspecificationGeneralinformationonlicensingandpatentsCANinAUTOMATION(CiA)callsattentiontothepossibilitythatsomeoftheelementsofthisCiAspecificationmaybesubjectofpatentrights.CiAshallnotberesponsibleforidentifyinganyorallsuchpatentrights.Becausethisspecificationislicensedfreeofcharge,thereisnowarrantyforthisspecification,totheextentpermittedbyapplicablelaw.Exceptwhenotherwisestatedinwritingthecopyrightholderand/orotherpartiesprovidethisspecification“asis”withoutwarrantyofanykind,eitherexpressedorimplied,including,butnotlimitedto,theimpliedwarrantiesofmerchantabilityandfitnessforaparticularpurpose.Theentireriskastothecorrectnessandcompletenessofthespecificationiswithyou.Shouldthisspecificationprovefailures,youassumethecostofallnecessaryservicing,repairorcorrection.TrademarksCANopen®andCiA®areregisteredcommunitytrademarksofCANinAutomation.TheuseisrestrictedforCiAmembersorownersofCANopenvendorID.MoredetailedtermsfortheuseareavailablefromCiA.©CiA2011Allrightsreserved.Unlessotherwisespecified,nopartofthispublicationmaybereproducedorutilizedinanyformorbyanymeans,electronicormechanical,includingphotocopyingandmicrofilm,withoutpermissioninwritingfromCiAattheaddressbelow.CANinAutomatione.V.Kontumazgarten3DE-90429Nuremberg,GermanyTel.:[phone]Fax:[phone]Url:@can-cia.orgCANopenapplicationlayerandcommunicationprofile©CiA2011–Allrightsreserved3CONTENTSHISTORY.......................................................................................................................................................2CONTENTS...................................................................................................................................................3Tables............................................................................................................................................................9Figures.........................................................................................................................................................111Scope....................................................................................................................................................132References...........................................................................................................................................142.1Normativereferences....................................................................................................................142.2Informativereferences...................................................................................................................143Abbreviationsanddefinitions..........................................................................................................153.1Abbreviations..................................................................................................................................153.2Definitions.......................................................................................................................................154Modeling...............................................................................................................................................174.1Fielddevicemodel.........................................................................................................................174.2Communicationreferencemodel..................................................................................................184.2.1General....................................................................................................................................184.2.2CANopenapplicationlayer.....................................................................................................184.2.2.1General.............................................................................................................................184.2.2.2Serviceprimitives.............................................................................................................184.2.2.3Applicationlayerservices................