CiA DS 201 to 207 Version 1.1
© CAN in Automation e. V.
CAN Application
Layer for industrial
applications
Contents
* CAN in the OSI Reference Model CiA/DS201
* CMS Service Specification CiA/DS202-1
* CMS protocol Specification CiA/DS202-2
* CMS Encoding Rules CiA/DS202-3
* NMT Service Specification CiA/DS203-1
* NMT Protocol Specification CiA/DS203-2
* DBT Service Specification CiA/DS204-1
* DBT Protocol Specification CiA/DS204-2
* LMT Service Specification CiA/DS205-1
* LMT Protocol Specification CiA/DS205-2
* Recommended Standard CAL Module Data Sheet CiA/DS206
* Application Layer Naming Conventions CiA/DS207
History
Date Document Changes
Feb 96 DS202-1 - chapter 4 'Data Types' deleted; numbering of
chapter 5 to 7 changed to 4 to 6;
- definition of segmented remote services of
domains changed; in remote result parameter
'success' becomes mandatory; parameter
'failure' deleted; service description for case of
a failure;
- paragraph 3.4 'CMS Data Types' changed
Feb 96 DS202-3 - document completely revised;
- simplyfication of encoding rules definitions;
new extended data types added
Feb 96 DS203-2 - node connect protocol: definition of parameter
'Node-ID' changed; parameter 'a' (abortion flag)
added; definition of error codes changed;
description of cs 1 and 4 changed;
- added paragraph 3.4 'Usage of Command
Specifiers'
Feb 96 DS204-1 - service ´create user definition´: changed the
definition of a ´free COB definition´
Feb 96 DS205-1 - service 'activate bit timing parameters':
DS205-2 description of parameter 'switch-delay'
changed;
- service ´configure bit timing parameters´:
value ´0´ for parameter table_selector now
references the CiA standard bit timing
parameters as defined in DS102;
- added services and protocols to identifiy nodes
with their LMT Address
Feb 96 DS205-2 - paragraph 5.6 renumbered to 5.5
(5.5 didn´t exist)
Feb 96 DS206 - new document
Feb 96 DS207 - NMT object name syntax: definition of 'NMT-
Address' changed
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© CiA 1997
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or
utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm,
without permission in writing from CiA at the address below.
CAN in Automation e. V.
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DE - 90429 Nuremberg, Germany
Tel.: +49-911-928819-0
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Email: headquarters@can-cia.org
CAN in Automation (CiA)
International Users and Manufacturers Group e.V.
CAN Application Layer for Industrial Applications
CiA/DS201
February 1996
CAN in the OSI Reference Model
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