CAN in Automation (CiA) has released the CiA 314 specification, which substitutes partly the CiA 405 specification published about 20 years. The other parts of CiA 405 have been moved already some years ago to the CiA 302-4 (network variable and process image) and the CiA 306-3 (electronic datasheet) documents. The CiA 314 document specifies CANopen-specific function blocks, e.g. to write or to read SDOs (service data objects), to inquire the NMT (network management) state or the CANopen kernel state. Other function blocks are dedicated for transmitting and receiving EMCY information (emergency messages) as well as for creating object dictionary
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