CiA® 401 series: Device profile for generic I/O modules

This device profile series specifies the CANopen interface for modules with analog and digital inputs and outputs. Since version 3.1, the specification has been split into two documents: Part 1 defines the generic interface and part 2 describes dedicated interfaces for joysticks.

Part 1 contains block diagrams describing the relation between digital and analog process data and the related configuration parameters. It also defines the PDO (process data object) behavior regarding communication and mapping in detail. The default first TPDO (Transmit PDO) and first RPDO (Receive PDO) support up to 8 by 8 digital (64) inputs respectively up to 8 by 8 (64) digital outputs. Besides byte-wise mapping, optionally bit-wise and word-wise mapping is possible. The remaining three default PDOs transmit or receive up to 12 analog inputs, respectively up to 12 analog outputs. The default resolution is 16 bit. Other resolutions are optional (e.g. 8 bit or 32 bit, or REAL).

In order to optimize the PDO communication, it is recommended to support PDO linking as well as variable PDO mapping. Alternatively, a manufacturer-specific set of default PDOs can be implemented. This is indicated in the so-called “M” bit in the device type parameter.

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). Most of these configuration parameters are optional. In order to cover a broad range of application requirements, it is recommended to implement as many of these parameter as possible.

Part 2 specifies the CANopen interface for joysticks. These devices are regarded as input modules with analog inputs for three dimensions (x, y, z) and optional digital bits to enable the memory function for three dimensions. Also, foot pedals are like joysticks with 1-axis movement. Detailed definitions for joysticks with digital inputs and optional outputs as well as for 2-D and 3-D joysticks with special PDO mappings are also included.

Operator environments

The CiA 852 recommended practice for operator environment sub-systems (e.g. human machine interfaces in mobile machines) is based on the CiA 401 profile. Such sub-systems are for example simple remote control units, operator seats with integrated joysticks, foot pedals, push buttons, indicators, etc., and complete operator cabins. They are dedicated but not limited to construction, mining, agriculture and forestry machines, to harbor cranes, boats and vessels, wheelchairs, and any other kind of machines on wheels.

CiA 852 recommends for example the numbering of sub-devices and the numbering of components of sub-devices. In total, the recommendation is suitable for up to 16 joysticks, up to 16 food-pedals, up to eight encoders, up to eight wheels, up to eight push-button clusters, up to eight indicator clusters, and up to eight displays. For all these functional elements, PDO (process data object) mappings are pre-defined.

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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.
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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.
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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.
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DSP219 KiB2013-02-12Login
CiA 852 version 1.0.0CANopen recommended practice for CiA 401-based operator environment sub-systems
DescriptionThis document specifies the CANopen interface for operator environments with humanmachine interface functionality. It is based on the CiA 401 CANopen profile for generic I/O modules. Operator environments are for example simple remote control units, operator seats with integrated joysticks, foot pedals, pushbuttons, indicators, etc., and complete operator cabins. They are dedicated but not limited for construction, mining, agriculture and forestry machines, for harbor cranes, for boats and vessels, for wheelchairs and any other kind of machines on wheels.
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public485 KiB2012-06-21Login