Safe design of CANopen distributed instruments

This paper presents a modeling for the safe design of intelligent instruments distributed on a CANopen fieldbus. This paper briefly recalls the service-based USOM/INOM modelling technique, then shows how this technique can be apply to a safe design of CANopen distributed instruments. An example of design of an instrument which is compatible with the CiA DSP-401 standardized profile of I/O modules, is used to illustrate these concepts.