CiA 446: Interface profile for AS-Interface gateway

This CiA 446 profile defines the CANopen interface for gateways connecting AS-Interface circuits. An AS-Interface circuit provides up to 62 AS-Interface slaves, which are cyclically polled by an AS-Interface master. One single CANopen logical device supports up to two AS-Interface circuits. The gateway implements AS-Interface master functionality (up to M4 double-master). For maximum functionality, up to eight TPDOs and eight RPDOs transporting AS-Interface digital I/O data were specified. TPDO 9 up to TPDO 132 (inputs) and RPDO 9 up to RPDO 132 (outputs) optionally transfer analog I/O data. Via AS-Interface master flags the actual status and possible failures of both masters are monitored. The status of the connected AS-Interface slaves is provided via SDO-accessible lists (active slaves, detected slaves, projected slaves and peripheral faults) representing the appropriate status of a slave bitwise. Via further objects the actual slave configuration may be read and a permanent configuration may be set for an AS-Interface slave. By means of the "AS-Interface master control word" the master may be operated in a certain mode (configuration mode, protected run-time mode, on-line and off-line mode), store actual configuration and enable automatic addressing and data exchange. The "AS-Interface master status word" shows whether the commanded values were executed. Furthermore acyclic read and write access to AS-Interface slaves is possible.