CiA® 417 series: Profile for lift control systems

The CANopen application profile for lift control systems, also known as CANopen Lift specification, defines the communication interfaces for different virtual devices. This includes call, car drive, and car door controllers as well as input panel, output panel, car drive, car position, load measuring, car door, light barrier, remote data transmission, and power-measuring units. All necessary PDOs for a single-shaft lift control system are defined; some of them are distributed in broadcast other peer-to-peer. For multi-shaft lift control systems, the communication between the controllers is manufacturer-specific. Nevertheless, each device may implement up to eight instances of the application profile, so that it can be used in up to eight lift control systems.

The virtual device concept allows the design of PDO-transparent bridges. The virtual device definitions for the car drive unit (motion controller) and car position unit (encoder) follow the generic CANopen device profiles for motion controllers and encoders. However, in lift control applications different object dictionary entries are used.

The CiA 417 specification comprises several parts:

  • Part 1 describes general definitions (including additional error codes)
  • Part 2 specifies virtual devices
  • Part 3 specifies PDOs
  • Part 4 specifies application objects (process data and configuration parameters)

As far as possible, the virtual device definitions are implementation-independent. The CANopen Lift specification enables system designers to select CiA 417 compliant devices from different suppliers and to integrate them into networks without huge efforts. For example, the car position unit can be implemented in traditional rotary encoders as well as sensors using other technologies to measure the position, such as ultrasound or magnetic tape.

Usage of standardized interfaces allows the lift operator an open maintanance of the lift system. Software tools for implementation and diagnosis are available by different providers. CANopen Lift is employed in more than 15000 lifts.

Since CiA 417 version 2.1.0 the boot-up and program download procedure was introduced. The CiA 814-1 application note provides the implementation hints for CiA 417 bootloader.

CANopen Lift demonstrator at Interlift

At the biannual Interlift trade show in Augsburg (Germany), CiA members have been presenting the CANopen Lift demonstrator since 2009. It demonstrates the interoperability of CiA 417 compliant devices. The growing number of CANopen Lift suppliers is impressive. The demonstrator comprises four independent lift control systems. The demonstrator can be rent for other events on request.

Title Details
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CiA 1301 version 1.0.0Application layer and communication profile
DescriptionThis document specifies the CANopen FD application layer. This includes the data types, encoding rules and object dictionary data objects as well as the CANopen FD communication services and protocols. In addition, this document specifies the CANopen FD network management services and protocols. This document also specifies the CANopen FD communication profile, e.g. the physical layer, the pre-defined communication object identifier connection set, and the content of the EMCY, TIME, and SYNC communication objects.
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DSP2.2 MiB2017-09-28Login
CiA 302-2 version 4.1.0CANopen additional application layer functions – Part 2: Network management
DescriptionThe definition of the network management includes the definition of the network startup behavior as well as definitions that are related to networks that operate without NMT master, networks with one CANopen device capable of the NMT master mode, and networks with more than one CANopen device capable of the NMT master mode (NMT flying master for higher availability). These definitions are intended to be an add-on to the CANopen application layer and communication profile (see /CiA301/).
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DSP1.5 MiB2009-02-02Login
CiA 302-3 version 4.1.0CANopen additional application layer functions – Part 3: Configuration and program download
DescriptionThis document defines objects and file formats for the configuration manager and for program download and control.
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DSP331 KiB2010-04-08Login
CiA 302-5 version 4.1.0CANopen additional application layer functions – Part 5: SDO manager
DescriptionCANopen offers a communication mechanism between CANopen devices via SDO. These communication channels are always established between two CANopen devices. For accessing a CANopen device the first time at least one SDO channel per CANopen device is required. This is called the default SDO channel. Only the SDO manager is allowed to use that SDO channel. Simple networks may use SDO channels that are pre-configured between a pair of CANopen devices. This allows direct communication between CANopen devices without the need of a SDO manager. This document defines mechanisms that may be used for plug-n-play networks, without the requirement of a pre-configuration of the network. These mechanisms may be used to establish dynamic SDO connections between CANopen devices. These mechanisms require a specific CANopen device in the network that is able to handle the dynamic request; this CANopen device is called SDO manager. These mechanisms require CANopen devices that are able to perform a dynamic request; these CANopen devices are called SDO Requesting Device (SRD).
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DSP397 KiB2009-02-02Login
CiA 302-9 version 1.0.0CANopen additional application layer functions – Part 9: Energy saving
DescriptionThis series of specifications defines additional CANopen services and functionalities, especially related to dedicated application requirements. It comprises the following parts. This part of the additional application layer function documents specifies the energy saving modes and the related communication parameters for energy saving.
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DSP169 KiB2014-03-27Login
CiA 303-2 version 1.5.0Recommendation - Part 2: Representation of SI units and prefixes
DescriptionThis document provides recommendation on how to represent the international system of units and prefixes in CANopen device, interface and application profiles.
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public120 KiB2012-04-27Login
CiA 303-3 version 1.4.0Recommendation - Part 3: Indicator specification
DescriptionThis recommendation describes the communication-related indicators. Additional application- related indicators are either described in the appropriate device profile or are manufacturer- specific.
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public124 KiB2012-04-27Login
CiA 303-1 version 1.9.0Recommendation - Part 1: Cabling and connector pin assignment
DescriptionThis document provides device and network design recommendations for CANopen physical layer. Additionally, it provides the guidelines for selecting cables and connectors for use in CANopen systems.
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public563 KiB2017-09-18Login
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).
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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.
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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.
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DSP1.5 MiB2016-08-18Login
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.
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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.
Keywordsn/a
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.
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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.
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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.
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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.
Keywordsn/a
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.
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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.
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DSP1.2 MiB2015-12-07Login
CiA WD 417-4 V2.2.5CANopen application profile for lift control systems – Part 4: Detailed application object specification
Descriptionn/a
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WD2.4 MiB2017-10-12Login
CiA WD 417-3-1 V2.1.5CANopen application profile for lift control systems – Part 3-1: Pre-defined PDOs for lift application 1
Descriptionn/a
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WD1.2 MiB2017-10-12Login
CiA WD 417-2 V2.2.5CANopen application profile for lift control systems – Part 2: Virtual device definitions
Descriptionn/a
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WD854 KiB2017-10-12Login
CiA WD 417-1 V2.2.4CANopen application profile for lift control systems – Part 1: General definitions
Descriptionn/a
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WD515 KiB2017-10-12Login
CiA 458 version 1.0.0CANopen device profile for energy measurements
DescriptionThis document specifies the CANopen interface for energy measuring devices. This includes energy consumption as well as energy production, in particular for energy recovering.
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DSP306 KiB2013-09-09Login