Moog ACV with CANopen bus interface
2 Access over CANopen
Introduction
B99224-DV018-D-211, Rev. A, October 2018
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2
Access over CANopen
2.1 Introduction
CANopen is a communication protocol and device profile specification for embedded systems used in auto-
mation. In terms of the Open Systems Interconnection (OSI) model, CANopen implements the above layers
and the network layer. The CANopen standard consists of an addressing scheme, several communication
protocols and an application layer defined by specific device profiles. The communication protocols have sup-
port for network management, device monitoring and communication between nodes. The lower level protocol
implementing the data link and physical layers is usually Controller Area Network (CAN). The basic CANopen
application and communication profiles are given in the CiA 301 specification released by CAN in Automation
(CiA). The device profiles for different devices are built on top of this basic profile.
2.2 Device profiles
The German Engineering Federation (VDMA), together with the manufacturers of hydraulic devices, have de-
veloped the "profile for fluid power technology". This profile defines common functionality and parameters for
the communication of hydraulic components via field bus in a standardized format across manufacturers. This
profile is implemented in all Moog servo valves with field bus interface. The CiA organization transformed the
bus-independent device profile from the VDMA to the CANopen specific device profile CiA 408 "Device Profile
Fluid Power Technology - proportional valves and hydrostatic transmissions". The device profiles describe the
application parameters and the functional behavior of the devices including the device class-specific state ma-
chines. For many device classes, field bus technology already offers reliable device profiles for example for
generic I/O-modules (CiA 401), drives and motion control (CiA 402) or for fluid power technology, proportional
valves and hydrostatic transmissions (CiA 408). Users should be familiar with the associated profile.
