Overview
The CiA 443 device profile specifies instruments and actuator devices for subsea measurement systems. Subsea instruments include simple pressure and temperature sensors and complex multi-purpose instruments such as multiphase flow meter. Subsea actuators include simple valves and valve controller units.
SIIS-Level-2 Masters are not described in the profile, but must support the described features of the slaves and they must provide the needed services.
From the CANopen point of view the profile includes some points to consider:
- Each device needs a bootloader to update firmware.
- Each device boots up in the bootloader, the master activates the application separately.
- The bootloader must support LSS and automatic acknowledgement of bit rates.
- Node IDs are assigned by LSS.
The fact that fault tolerant CAN transceivers are to be used is independent from the CANopen implementation, but relevant for device development. For this, bit rates of 50 kbit/s and 125 kBit/s are supported. CAN-High-Speed transceivers with up to 250 kbit/s are possible optionally.
More information on the CiA443 profile are available at CAN in Automation e.V.. It is available for free download for CiA members.
Extension module for 443 profile for CANopen Slave Stack
For the CANopen Slave Stack emotas offer an extension that allows an easier development of CiA 443 devices.
This extension module includes a bootloader template suitable for CiA 443 and it supports the features of the application defined in the profile. TPDOs are sent automatically according to mapping and defied rules. The extension module matches with version 3.0.1 of the CiA 443 specification.
As counterparte during the developments we recommend the software tool CANopen DeviceExplorer with LSS Master-PlugIn. If wished emotas could also do the integration of CANopen and CiA 443 as an engineering service for you.
To connect SIIS-Level-2 Masters with upper level controlling platform the CiA 309-3 Server can be used.
