CiA 425 series of documents: CANopen profiles for medical add-on devices

The CiA 425 device profiles specify the interfaces between medical diagnostic devices and contrast-media injectors. The injector devices are NMT slave devices. Heartbeat support is mandatory. The profile specifies the injector's finite state automaton, which is controlled by local or remote commands from the medical diagnostic device. The command words are confirmed via status words. Both are mapped into default PDOs. The configuration of the injection protocol programming can be performed locally or via SDO services. The injector device can be equipped with up to eight pistons.
There are three operation modes: monitor, tracking, and control mode. In the control mode, the medical diagnostic device manages the injector. In order to simplify system design and medical diagnostic device programming, six injector classes are specified.