CANopen profiles

The set of CANopen specifications comprises different kinds of profiles. All these profiles specify process data (to be mapped into PDOs), configuration parameters (accessed by means of SDOs), and diagnostic information (provided by means of EMCY or readable by means of SDOs). The device type parameter (Index 1000h) indicates the implemented profile.

Generic and specific device profiles specify the interface of a logical device as defined in CiA 301. This means they describe the object dictionary entries in the index range from 6000h to 9FFFh. Additionally, they might specify PDO parameters and some other parameters in the index range from 1000h to 1FFFh. Normally, the corresponding PDOs are produced and consumed by the device with the NMT master functionality, which also normally provides the SDO client related to the Default SDO server. The most used profiles are CiA 401 for generic I/O modules and CiA 402 for motion controllers and drives.

For devices without application functionality, CANopen interface profiles are specified. They are similar to the device profiles, but the don’t specify process inputs and outputs. Instead they describe the functionality of another application-independent network or bus technology. They may be regarded as specific device profiles featuring proxy functions. A typical interface profile is specified in CiA 446. It enables a standardized access to AS-interface bus-systems. Gateways connecting CANopen networks to wireless transmission media are specified in the CiA 457 interface profile for wireless transmission media based CANopen devices.

Application profiles specify all functional interfaces used in a network. It is so-to-speak a system design approach. Application profiles are based on the description of a set of virtual device interfaces. A CANopen device may implement one or several virtual devices. Typical application profiles are CiA 417 (also known as CANopen Lift) or CiA 422 (also known as CleANopen). The CiA 447 application profile specifies a CANopen network used in special-purpose vehicles such as taxis, ambulances, and police cars.

In both approaches, the device and the application profile, system designers are able to reconfigure the default behavior in order to tailor the network communication to the system requirements. Devices compliant to the same profile are interoperable and partly or completely exchangeable. They provide a standardized application functionality regarding the implemented process data, configuration parameters, and diagnostic information. Optionally, application finite state automata (FSA) are standardized in order to achieve interoperability with the application controller.

Device and application profiles

Title Details
Status
Size
Published
Action
CiA 401 version 3.0.0CANopen device profile for generic I/O modules
DescriptionThis specification represents the CANopen device profile for generic digital and analogue input and output modules. Devices compliant to this specification use communication techniques, which conform to those described in the CANopen application layer and communication profile specification. In addition, programmable I/O devices may use communication techniques, which conform to those described in the CANopen additional application layer functions. In the appendices, some specific I/O devices are defined.
public1.0 MiB2008-06-03Login
CiA 401-1 version 3.1.0CANopen Profile for I/O devices – Part 1: Generic I/O modules
DescriptionThis CANopen profile specifies generic CANopen digital and analog input and output devices. Devices compliant to this specifications use communication techniques, which are conform to those described in the CANopen application layer and communication profile specification. In addition, programmable I/O devices may use communication techniques, which conform to those described in the CANopen additional application layer functions. This device profile specification consists of several parts: Part 1: Generic I/O devices, Part 2: Joysticks. This part of the device profile specifies the CANopen interface for modules with generic analog and digital inputs and outputs. The first default TPDO and RPDO support up to 64 digital inputs, respectively up to 64 digital outputs both grouped byte-wise. The remaining default PDOs transmit or receive up to 12 analog inputs respectively up to 12 analog outputs both with a 16-bit resolution. All TPDOs are triggered by change-of-state. Therefore, default TPDOs containing analog inputs are disabled. Besides the default byte-wise access to digital I/Os, optional bit-, word-, and double-word access may be supported. Besides the default 16-bit resolution for the analog I/Os, optional 8-bit, 32-bit, floating-point and manufacturer-specific resolutions may be supported. Several parameters are specified to configure the input and output behavior (e.g. trigger conditions for inputs, output behavior in case of internal device failures.
DSP0.9 MiB2013-02-12Login
CiA 401-2 version 3.1.0CANopen profile for I/O devices – Part 2: Joysticks
DescriptionThis CANopen profile specifies generic CANopen digital and analog input and output devices. Devices compliant to this specifications use communication techniques, which conform to those described in the CANopen application layer and communication profile specification. In addition, programmable I/O devices may use communication techniques, which conform to those described in the CANopen additional application layer functions. This profile consists of several parts: Part 1: Generic I/O devices, Part 2: Joysticks. This part of the profile specifies the CANopen interface for joysticks and similar devices, e.g. foot-pedals.
DSP219 KiB2013-02-12Login
CiA 404-1 version 2.1.0CANopen device profile for measuring devices and closed-loop controllers – Part 1: Generic objects and generic PDO mapping
DescriptionThis document specifies the device profile for measuring devices and for universal controller devices for measuring or controlling of physical quantities such as temperature or pressure. The CANopen device profile for measuring devices and closed-loop controllers consists of two parts: Part 1 defines the generic objects and the generic PDO mapping. Part 2 defines the EUROMAP specific parameters. This part specifies the parameter for the digital input and output blocks resp. the analog input and output blocks. Additionally, it specifies the alarm and control as well as the device function block.
DSP1.3 MiB2016-07-19Login
CiA 404-2 version 2.0.0CANopen device profile for measuring devices and closed-loop controllers – Part 2: EUROMAP implementation
DescriptionThis specification represents the device profile for measuring devices and for universal controller devices for measuring or controlling physical quantities like temperature or pressure. These devices use communication techniques which are conform to those described in /CiA301/. The CANopen device profile for measuring devices and closed-loop controllers consists of several parts. This part specifies the additional objects needed for EUROMAP 75 measuring amplifiers parameters and EUROMAP 66 heating/cooling device parameters.
DSP175 KiB2013-08-01Login
CiA 404 version 1.2.0CANopen device profile for measuring devices and closed-loop controllers
DescriptionThis document represents the device profile for measuring devices and for universal controller devices for measuring or controlling physical quantities like temperature or pressure. These devices use communication techniques which are conform to those described in /2/. This document should be consulted in parallel to this profile.
public1.7 MiB2002-05-15Login
CiA 406 version 3.2.0CANopen device profile for encoders
DescriptionThis document represents the CANopen device profile for incremental and absolute, linear and rotary encoders. Besides position, velocity, acceleration, and jerk output possibility complete cam functionality is covered. In addition, it is possible to handle multi-sensors through one CANopen device. All the above mentioned devices use communication techniques, which conform to those described in the CANopen application layer and communication profile specification /CiA301/. This document should be consulted in parallel to this profile.
public533 KiB2006-12-18Login
CiA 406 version 4.0.2CANopen device profile for encoders
DescriptionThis CANopen device profile specifies the communication and application parameters for different types of linear and rotary encoders such as incremental and absolute, normal, and high resolution, single and multi-sensor (linear only) encoders. The document provides also operating principles of the encoders and specifies encoder output process values such as position, speed, acceleration and jerk. This device profile specifies rotary encoder CAM parameters as well. This document also specifies CANopen Safety parameters such as Safety position and Safety speed for encoders with CANopen Safety functionality (see EN 50325-5). All the above-mentioned encoders shall use communication techniques, which are conform to those described in the CANopen application layer and communication profile specification for CANopen Safety protocol.
DSP1.5 MiB2016-08-18Login
CiA 408 version 2.1.0CANopen device profile for fluid power technology proportional valves and hydrostatic transmissions
DescriptionThis CiA device profile describes the functionality of interconnectable proportional valves, hydrostatic pumps and hydrostatic transmissions. The specification is based on the profile “Fluid Power Technology”, version 1.6.3 designed by Verband Deutscher Maschinen- und Anlagenbau e.V. Frankfurt/Main, Germany (VDMA). The device profile specifies CANopen interface for hydraulic proportional valves, hydrostatic pumps and hydrostatic transmissions. This profile may as well be applied on pneumatic devices.
DSP8.7 MiB2017-01-23Login
CiA 408 version 1.5.2CANopen device profile for fluid power technology proportional valves and hydrostatic transmissions
DescriptionThis profile describes the functionality of interconnectable proportional valves, hydrostatic pumps and hydrostatic transmissions. The document is based on the profile “Fluid Power Technology”, version 1.5 released by VDMA Verband Deutscher Maschinen- und Anlagenbau e.V. Frankfurt/Main, Germany/VDMAPROP/. The device profile has been defined for hydraulic proportional valves, hydrostatic pumps and hydrostatic transmissions. It can as well be applied on pneumatic devices.
public2.8 MiB2005-01-01Login
CiA 410 version 1.3.0CANopen device profile for inclinometer
DescriptionThis specification represents the CANopen device profile for one- and two-axis inclinometers.
public194 KiB2010-02-23Login
CiA 410 version 2.0.0CANopen device profile for inclinometer
DescriptionThis profile specifies the CANopen interface for one- and two-axis inclinometers. This sensor interface provides optionally also temperature, speed, acceleration, and jerk process values. The specification includes optional CANopen safety-communication interface compliant to safety integrity levels (SIL) as defined in IEC 61508.
DSP0.9 MiB2014-03-25Login
CiA 412-1 version 1.0.0CANopen profiles for medical devices - Part 1: General definitions
DescriptionThe CANopen profiles for medical devices includes several parts: Part 1 describes general definitions. Part 2 defines the profile for automatic X-ray collimators. Part 3 defines the profile for X-ray generators. Part 4 defines the profile for patient tables. Part 5 defines the profile for X-ray stands. Devices compliant to these profiles use communication techniques, which conforms to those described in the CANopen communication profile (CiA Draft Standard DS-301, /2/). In addition, medical devices and sub-systems may use communication techniques, which conform to those described in the framework for programmable CANopen Devices (CiA Draft Standard Proposal DSP- 302). These specifications should be consulted in parallel to these device profile specifications.
public159 KiB2005-12-31Login
CiA 412-2 version 1.0.0CANopen profiles for medical devices - Part 2: Automatic X-ray collimator
DescriptionThis document represents the CANopen device profile for generic X-ray collimators, and as such describes the generic subset of collimator functionality. A prerequisite for the conformity to this CANopen device profile is conformity with the CANopen communication profile (CiA Draft Standard DS 301). Additionally, in the case that the module is programmable it must conform to the Framework for programmable CANopen devices (CiA Draft Standard Proposal DSP 302). These specifications should be consulted in parallel to this device profile specification.
public658 KiB2005-12-31Login
CiA 412-6 version 1.1.0CANopen profiles for medical devices - Part 6: Dose measurement system
DescriptionThis specification defines the CANopen device profile for dose measurement systems. A prerequisite for the conformity to this CANopen device profile is conformity with the CANopen communication profile. Additionally, in the case that the module is programmable conformance to the framework for programmable CANopen devices is required. It is recommended to consulted these specifications in parallel to this device profile specification.
public0.9 MiB2008-08-27Login
CiA 314 version 1.0.0Accessing CANopen services in devices programmable in IEC 61131-3 languages
DescriptionThis document specifies function blocks to produce or consume CANopen communication services for devices programmable in IEC 61131-3 languages and to provide local CANopen functions. This specification is suitable for programmable logic controllers (PLCs), PC-based controllers running a PLC-software, and other programmable devices compliant to IEC 61131. NOTE: This specification substitutes the CiA 405 document those content has been moved to different documents (CiA 302-4 and CiA 306-3).
DSP363 KiB2015-10-09Login
CiA 417-1 version 2.0.0CANopen application profile for lift control systems – Part 1: General definitions
DescriptionThis set of CANopen application profile specifications describes the CANopen Lift control network system. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). This application profile specification consists of several parts. Besides some general definitions such as general virtual device descriptions, this part specifies the CAN physical layer as well as the error handling. Additionally some network architecture examples are given.
public210 KiB2011-02-02Login
CiA 417-1 version 2.2.0CANopen application profile for lift control systems – Part 1: General definitions
DescriptionThis set of CANopen application profile specifications describes the CANopen Lift control network system. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). This application profile specification consists of several parts: Part 1 provides general definitions. Part 2 specifies the functionality of the virtual devices. Part 3 specifies the pre-defined PDOs. Part 4 specifies the application objects. This part specifies the CAN physical layer as well as the error handling, besides some general definitions such as general virtual device descriptions. Additionally, some network architecture examples are given.
DSP565 KiB2015-12-07Login
CiA 417-2 version 2.0.0CANopen application profile for lift control systems – Part 2: Virtual device definitions
DescriptionThis set of CANopen application profile specifications describes the CANopen Lift control network system. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). This application profile specification consists of several parts. This part specifies for a single lift application (lift 1) the general communication parameter. It specifies also for each virtual device the supported application objects including the category, access, and default value attributes. It describes the supported Process Data Objects (PDO). In addition, the PDOs for the other lift application 2 to 8 are assigned correspondingly.
public340 KiB2011-02-02Login
CiA 417-2 version 2.2.0CANopen application profile for lift control systems – Part 2: Virtual device definitions
DescriptionThis set of CANopen application profile specifications describes the CANopen Lift control network system. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). This application profile specification consists of several parts: Part 1 provides general definitions. Part 2 specifies the functionality of the virtual devices. Part 3 specifies the pre-defined PDOs. Part 4 specifies the application objects. This part specifies for a single lift application (lift 1) the general communication parameter. It specifies also for each virtual device the supported application objects including the category, access, and default value attributes. It describes the supported Process Data Objects (PDO). In addition, the PDOs for the other lift application 2 to 8 are assigned correspondingly.
DSP196 KiB2015-12-07Login
CiA 417-3 version 2.0.0CANopen application profile for lift control systems – Part 3-1: Pre-defined PDOs for lift application 1
DescriptionThis set of CANopen application profile specifications describes the CANopen Lift control network system. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). This application profile specification consists of several parts. This part of the application profile specifies pre-definitions for communication objects. This sub-part specifies in detail the communication and mapping behavior of the PDOs for the lift 1 application.
public818 KiB2011-02-02Login
CiA 417-3-1 version 2.1.0CANopen application profile for lift control systems – Part 3-1: Pre-defined PDOs for lift application 1
DescriptionThis set of CANopen application profile specifications describes the CANopen Lift control network system. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). This application profile specification consists of several parts: Part 1 provides general definitions. Part 2 specifies the functionality of the virtual devices. Part 3 specifies the pre-defined PDOs. Part 4 specifies the application objects. This part of the application profile specifies pre-definitions for communication objects. This sub-part specifies in detail the communication and mapping behavior of the PDOs for the lift 1 application.
DSP529 KiB2015-12-07Login
CiA 417-4 version 2.0.0CANopen application profile for lift control systems – Part 4: Detailed application object specification
DescriptionThis set of CANopen application profile specifications describes the CANopen Lift control network system. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). This application profile specification consists of several parts. This part specifies in detail the used process data, configuration parameter, and diagnostic information represented in the object dictionary for the lift 1 application.
public839 KiB2011-02-02Login
CiA 417-4 version 2.2.0CANopen application profile for lift control systems – Part 4: Detailed application object specification
DescriptionThis set of CANopen application profile specifications describes the CANopen Lift control network system. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). This application profile specification consists of several parts: Part 1 provides general definitions. Part 2 specifies the functionality of the virtual devices. Part 3 specifies the pre-defined PDOs. Part 4 specifies the application objects. This part specifies in detail the used process data, configuration parameter, and diagnostic information represented in the object dictionary for the lift 1 application.
DSP1.2 MiB2015-12-07Login
CiA 418 version 1.2.0CANopen device profile for battery modules
DescriptionThis device profile specifies a recommended practice for the communication link between a battery module and a battery charger. The required data messages are intended to be sufficient to allow a battery charge to be carried out. Optional data is a selection of data commonly used in the industry to provide enhanced features. Battery modules compliant to this standard shall use communication techniques, which conforms to those described in the CANopen application layer and communication profile.
public289 KiB2012-04-27Login
CiA 419 version 1.2.0CANopen device profile for battery chargers
DescriptionThis device profile specifies the battery charger communication and application objects in order to obtain sufficient information from the battery module to allow a charge to be carried out. Optional data is a selection of data commonly used in the industry to provide enhanced features. Chargers compliant to this standard shall use communication techniques, which conforms to those described in the CANopen application layer and communication profile.
public197 KiB2012-04-27Login
CiA 420-1 version 3.2.0CANopen profiles for extruder downstream devices – Part 1: General definitions
DescriptionThe CANopen application profile for extruder downstream devices includes several parts: Part 1 specifies general definitions, Part 2 specifies the device profile for the puller downstream device, Part 3 specifies the device profile for the corrugator downstream device, Part 4 specifies the device profile for the saw downstream device, Part 5 specifies the device profile for the co-extruder device, Part 6 specifies the device profile for the calibration-table downstream device. NOTE: All parts of this specification have been developed jointly with the European Committee of Machinery Manufacturers for the Plastics and Rubber Industries (Euromap) and is documented there as Euromap 27. This part specifies the physical layer and the common CANopen functions and common
public525 KiB2015-05-07Login
CiA 420-2 version 3.1.0CANopen profiles for extruder downstream devices – Part 2: Puller
DescriptionThe CANopen application profile for extruder downstream devices includes several parts. NOTE. All parts of this specification have been developed jointly with the European Committee of Machinery Manufacturers for the Plastics and Rubber Industries (Euromap) and is documented there as Euromap 27. This part specifies the CANopen interface for the puller downstream device.
public187 KiB2015-05-07Login
CiA 420-3 version 3.1.0CANopen profiles for extruder downstream devices – Part 3: Corrugator
DescriptionThe CANopen application profile for extruder downstream devices include several parts: Part 1 specifies general definitions, Part 2 specifies the device profile for the puller downstream device, Part 3 specifies the device profile for the corrugator downstream device, Part 4 specifies the device profile for the saw downstream device, Part 5 specifies the device profile for the co-extruder device, Part 6 specifies the device profile for the calibration-table downstream device. NOTE: All parts of this specification have been developed jointly with the European Committee of Machinery Manufacturers for the Plastics and Rubber Industries (Euromap) and is documented there as Euromap 27. This part specifies the CANopen interface for the corrugator downstream device.
public175 KiB2015-05-07Login
CiA 420-4 version 3.1.0CANopen profiles for extruder downstream devices – Part 4: Saw
DescriptionThe CANopen application profile for extruder downstream devices includes several parts: Part 1 specifies general definitions, Part 2 specifies the device profile for the puller downstream device, Part 3 specifies the device profile for the corrugator downstream device, Part 4 specifies the device profile for the saw downstream device, Part 5 specifies the device profile for the co-extruder device, Part 6 specifies the device profile for the calibration-table downstream device. NOTE: All parts of this specification have been developed jointly with the European Committee of Machinery Manufacturers for the Plastics and Rubber Industries (Euromap) and is documented there as Euromap 27. This part specifies the CANopen interface for the saw downstream device.
public179 KiB2015-05-07Login
CiA 420-5 version 2.1.0CANopen profiles for extruder downstream devices – Part 5: Simple and advanced co-extruder
DescriptionThe CANopen application profile for extruder downstream devices includes several parts: Part 1 specifies general definitions, Part 2 specifies the device profile for the puller downstream device, Part 3 specifies the device profile for the corrugator downstream device, Part 4 specifies the device profile for the saw downstream device, Part 5 specifies the device profile for the co-extruder device, Part 6 specifies the device profile for the calibration-table downstream device. NOTE: All parts of this specification have been developed jointly with the European Committee of Machinery Manufacturers for the Plastics and Rubber Industries (Euromap) and is documented there as Euromap 27. This part specifies the CANopen interface for simple and advanced co-extruder.
public197 KiB2015-05-07Login
CiA 420-6 version 1.1.0CANopen profiles for extruder downstream devices – Part 6: Calibration-table
DescriptionThe CANopen application profile for extruder downstream devices include several parts: Part 1 specifies general definitions, Part 2 specifies the device profile for the puller downstream device, Part 3 specifies the device profile for the corrugator downstream device, Part 4 specifies the device profile for the saw downstream device, Part 5 specifies the device profile for the co-extruder device, Part 6 specifies the device profile for the calibration-table downstream device. NOTE_ All parts of this specification have been developed jointly with the European Committee of Machinery Manufacturers for the Plastics and Rubber Industries (Euromap) and is documented there as Euromap 27. This part specifies the CANopen interface for calibration-tables.
public212 KiB2015-05-07Login