CEN/TR 16815:2015

European foreword
1 Scope
2 Normative references
3 Terms and definitions
4 Acronyms
5 Abbreviations
6 General architecture
7 Physical layer specification
8 Error handling
9 Data type specification
10 Object dictionary entries
11 Pre-defined TPDO communication
12 Manufacturer-specific TPDOs
13 Pre-defined RPDO communication
14 Manufacturer-specific RPDOs
15 Pre-defined additional SDO communication
16 Object dictionary
Annex A (normative) - Manufacturer-specific TPDOs
        for unit-specific use
Annex B (normative) - Manufacturer-specific RPDOs
        for unit-specific use
Annex C (informative) - Measurement process
Bibliography

This Technical Report provides a set of CANopen application profile specifications that describes the CleANopen embedded body control network of municipal vehicles, e.g. refuse collecting trucks.It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices).It does not specify CANopen devices.The CleANopen application profile specifications consist of several parts dealing with the following:-general definitions;-functionality of the virtual devices;-pre defined PDOs and SDOs;-application objects.