CiA® 422 series: CANopen application profile for municipal vehicles

The CANopen application profile CiA 422 specifies the so-called CleANopen embedded body control network of refuse collecting vehicles. It specifies the CANopen communication interfaces of several functional units (virtual devices), required for the control of the refuse collection application:

  • Body controller (BC)
  • Bin classification unit (BCU)
  • Container change unit (CCU)
  • Compaction unit (CU)
  • Foot step unit (FSU)
  • GPS unit (GPSU)
  • Identification unit (IDU)
  • Input/output unit (IOU)
  • Lifter unit (LU)
  • Measuring unit (MU)
  • Truck gateway unit (TGU)
  • Washing unit (WU)
  • etc.

CiA has submitted the CiA 422-series (version 2) to the CEN (Comité Européen de Normalisation) for European standardization. It is published as EN 16815 standard (CleANopen - Application profile for municipal vehicles) since 2019.

 

Title Details
Published
Size
Status
Action
CiA 422-1 version 2.2.0 CANopen application profile for municipal vehicles - Part 1: General definitions
Scope

This part of the CANopen application profile for municipal vehicles provides some general definitions of CleANopen and specifies the CAN physical layer as well as the error handling.

 2026-06-29 790 KB DSP Login
CiA 422-2 version 2.2.0 CANopen application profile for municipal vehicles - Part 2: Virtual device functionality
Scope

This part of the CANopen application profile for municipal vehicles specifies the general communication parameters. It specifies for each virtual device the supported application objects including the category, access, and default value attributes. It describes the supported process data objects (PDO) and additional service data objects (SDO).

 2026-06-29 690 KB DSP Login
CiA 422-3-2 version 2.2.0 CANopen application profile for municipal vehicles - Part 3-2: Pre-defined RPDOs
Scope

This part of the CANopen application profile for municipal vehicles specifies the communication and mapping parameter sets of the pre-defined RPDOs.

 2026-06-29 5 MB DSP Login
CiA 422-3-3 version 2.2.0 CANopen application profile for municipal vehicles - Part 3-3: Pre-defined SDOs
Scope

This part of the CANopen application profile for municipal vehicles specifies the pre-defined additional SDO clients and servers.

 2026-06-29 898 KB DSP Login
CiA 422-4 version 2.2.0 CANopen application profile for municipal vehicles - Part 4: Application data objects
Scope

This part of the CANopen application profile for municipal vehicles specifies the values and value range attribute of the application objects. It specifies also the object and data type attributes of the application objects.

 2026-06-29 3 MB DSP Login
CiA 422-3-1 version 2.2.0 CANopen application profile for municipal vehicles - Part 3-1: Pre-defined TPDOs
Scope

This part of the CANopen application profile for municipal vehicles specifies the communication and mapping parameter sets of the pre-defined TPDOs.

 2026-06-29 6 MB DSP Login