BEI Sensors THK5 - Manual (Page 5)

POSI+ CANOPEN USER MANUAL
Version 1.02 Page 5
BEI IDEACOD SAS
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1.3 CAN Communication Reference Model
The communication concept can be described similar to the ISO-OSI Reference Model:
CANbus
The communication model* supports synchronous and asynchronous messages. With respect to
the functionality four different message objects are provided:
Administrational Messages (LMT, NMT)
Service Data Messages (SDO)
Process Data Messages (PDO)
Pre-defined Messages (Synchronisation and Emergency Messages)
Further information is available at:
CAN in Automation (CiA) International Users and Manufacturers Group e.V.
Am Weichselgarten 26
D-91058 Erlangen
(*) Reference: CAN Application Layer for Industrial Applications
CiA Draft Standard 201 ... 207, Version 1.1
CAL-based Communication Profile for Industrial Systems
CiA Draft Standard 301
Device A Device B Device C Device X
ISO/OSI Layer 7: CAL
NMT DBT LMT CMS
ISO/OSI Layer 2: Data Link Layer
ISO/OSI Layer 1: Physical Layer