A proposed method to determine dynamic interoperability of CANopen devices
Bruce M. Decker, Berger Lahr · 2005
Interoperability between CANopen devices is universally desired by most CANopen device integrators and other users. To this end, the CiA has defined a CANopen Conformance Test which checks EDS files and the devices for adherence to CiA specifications. However, these checks are against static requirements, implying that 2 devices which pass the Conformance Test may still not be able to actually interoperate. The CANopen protocol deliberately does not prescribe the dynamic timing parameters needed for true device interoperability, as different applications have differing requirements. Recognizing this fact, this paper does not set out to prescribe such specifications. Instead, building on TR 308, this paper describes a standard set of time value measurement definitions and a means for sharing these dynamic values between CANopen devices which provides a user with a means of quickly assessing interoperability & compatibility.