The user of this document must have sufficient knowledge of machine controlling, functional safety, CAN communication, PLCopen programming according to IEC61131-3 and should have skills to use CODESYS 3.5 programming environment.
Refer to the CODESYS manual and CODESYS Safety SIL2 manual for further information concerning the programming environment and required installations.
Refer to CAN and CANopen documentation from CAN in Automation (CiA) for further information on communication issues.