CiA® 406: Profile for encoders

This specification standardizes the CANopen interface for absolute rotary and linear encoders. The encoder manufacturer may supply diverse markets with encoders implementing the same electronical interface according to CiA 406. Besides position and velocity values, the profile specifies also process data for acceleration and jerk values. Furthermore, the document describes several configuration parameters, e.g. the code sequence (complement) that determines the counting direction in which the output code is to be increased or decreased. The resolution parameter is used to configure a given number of steps for each revolution. In addition, the profile covers complete cam functionality with hysteresis.

The encoder profile specifies different operation modes:

  • Periodical mode: The current position value is sampled and transmitted periodically by means of the PDO event timer; the period is configurable.
  • Synchronous mode: The current position is sampled and transmitted after the reception of the SYNC message sent by the host controller or any other synchronization entity.

Three classes of encoders are defined:

  • Class 1 devices support normal resolution encoding and diagnostic functions without alarm and warning capabilities. Optionally Heartbeat and Layer Setting Services (LSS) are implemented.
  • Class 2 devices support all Class 1 functions. Additionally, scaling and preset functions are implemented as well as alarm and warning functions.
  • Class 3 devices support Class 2 functions and high-resolution position values. Optionally, they feature CANopen Safety. Heartbeat and LSS as specified in CiA 305 are mandatory.

The application parameter and process data specified in CiA 406 are referenced for the CiA 417 CANopen Lift car position unit. However, the object dictionary entries are different, but the functions are the same.

Since version 4.0.0, the profile specifies the mapping of position values into SRDOs (Safety-Related Data Objects) as specified in EN 50325-5 (CANopen Safety). In addition, the CRC protection of configuration parameters is standardized.

Title Details
CiA 301 version 4.2.0CANopen application layer and communication profile
DescriptionThis specification specifies the CANopen application layer. This includes the data types, encoding rules and object dictionary objects as well as the CANopen communication services and protocols. In addition, this specification specifies the CANopen network management services and protocols. This specification specifies the CANopen communication profile, e.g. the physical layer, the predefined communication object identifier connection set, and the content of the Emergency, Timestamp, and Sync communication objects.
public3.4 MiB2011-02-21Login
CiA 305 version 3.0.0CANopen layer setting services (LSS) and protocols
DescriptionThis document specifies the layer setting services (LSS) and protocols for CANopen. These services and protocols are used to inquire or to change the settings of three parameters of the physical layer, data link layer, and application layer on a CANopen device with LSS slave capability by a CANopen device with LSS master capability via the CAN network. The following parameters may be inquired or changed: Node-ID of the CANopen device, bit timing parameters of the physical layer (bit rate), LSS address compliant to the identity object (1018h).
DSP2.0 MiB2013-05-08Login
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 4.0.5CANopen device profile for encoders
WD2.0 MiB2018-09-20Login
CiA 406 version 4.1.0CANopen device profile for encoders
DescriptionThis document 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. The document specifies also encoder CAM parameters. This document also specifies CANopen Safety parameters such as Safety position and Safety speed for encoders with CANopen Safety functionality (see EN 50325-5).
DSP1.6 MiB2019-06-01Login