FOREWORD
INTRODUCTION
1 General
1.1 Scope
1.2 Normative references
1.3 Terms and definitions
1.4 Abbreviations
1.5 Conventions
2 Architecture
2.1 Content
2.2 Logical CANopen-based consist network
2.3 Network topology
2.4 Addressing
2.5 Data classes
3 Physical layer
3.1 Content
3.2 Cabling
3.3 Connector
3.4 Physical medium attachment
3.5 Physical signaling
4 Data Link layer
4.1 Content
4.2 CANopen data link layer
5 CANopen application layer
5.1 Content
5.2 Reference model
5.3 Field device model
5.4 CANopen communication objects
5.5 CANopen object dictionary
5.6 Predefined CANopen communication objects
6 Application data
6.1 Content
6.2 CANopen application data representation
6.3 Recommended representation principle of application
data
7 CANopen network management
7.1 Content
7.2 CANopen NMT slave functionality
7.3 CANopen manager functionality
7.4 CANopen NMT start-up
7.5 Boot NMT slave
7.6 Error control
7.7 Additional NMT master services and protocols
7.8 Object dictionary entries
8 Gateway functions
8.1 Content
8.2 Gateway architecture
8.3 General principles and services
8.4 Network access service specification
8.5 ASCII mapping of network access services
9 Train network management
9.1 Content
9.2 Manager, Agents and interfaces (informative)
9.3 Management message protocol (informative)
9.4 Object interfaces (informative)
9.5 CANopen-specific management services
9.6 TNM CANopen services
10 CANopen management message data handling
10.1 General
10.2 Message data format
10.3 Requirements for message data communication within
CANopen networks
10.4 Object 1F78[h]: CANopen message data reception
11 Conformance testing
Bibliography