CiA® 410: CANopen device profile for inclinometer

This profile specifies the CANopen interface for single- and dual-axis inclinometers. It specifies the 16-bit or 32-bit slope values for the longitudinal and the lateral axis as well as the related operating parameters, preset values and offsets. Additionally, resolution, temperature, speed, acceleration, and jerk process data are provided. Since version 2.0.0 the specification introduced four device classes and included optional CANopen Safety communication interface compliant to SIL (safety integrity levels) of IEC 61508.

Device manufacturers may supply diverse markets with inclinometers implementing the same electronic interface according to CiA 410 and simply vary the appropriate application software. A system designer may choose between CANopen devices from different manufacturers implementing the same profile-compliant functionality. For development, analysis, and maintenance of the devices, off-the-shelf CANopen tools may be used.

The physical CAN interface, used bit-rates and bit-timing shall comply with the definitions given in CiA 301. The bit-rate and node-ID assignment may be performed by means of LSS (layer setting services) as defined in CiA 305. If several bit-rates are supported, it is recommended to implement automatic bit-rate detection (see CiA 801). If a connector referenced in CiA 303-1 is supported, the related pin-assignment is used.

The data link layer complies with ISO 11898-1. It is recommended to use only the 11-bit CAN identifier and not to use CAN remote frames.

The inclinometer shall be capable to permanently store parameters, to generate sync messages and emergency messages. Additional emergency error codes indicate whether the sensor is defect or its values are out of range. It is highly recommended to support heartbeat functionality in the new designs.

Four inclinometer classes are defined:

  • Class C1: This class supports one-axis 16-bit value measurements
  • Class C2: This class supports two-axes 16-bit value measurements
  • Class C3: This class supports one-axis 32-bit value measurements
  • Class C4: This class supports two-axes 32-bit value measurements

The optionally supported CANopen Safety functionality accords to the implemented class. Thereby the safety slope longitudinal and lateral values are transmitted via SRDOs (safety-related data objects) as defined in CANopen Safety (see EN 50325-5). Furthermore the CRC calculation for CANopen Safety application parameter configuration is specified.

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 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.
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).
DSP2.0 MiB2013-05-08Login
CiA 801 version 1.0.0CANopen automatic bit-rate detection
DescriptionThis technical report describes the recommended practice and gives application hints for implementing automatic bit-rate detection in CANopen devices. With the Layer Setting Services (LSS) it is possible to change the bit-rate in CANopen networks. However, this mechanism fails in certain situations. Some low-cost devices that do not support LSS at all could also benefit from the recommended automatic bit-rate detection method. This technical report discusses an approach for automatic bit-rate detection in CANopen networks. As introduction the possible solutions to detect an unknown bit-rate for CAN controllers (Software / Hardware) are presented. The technical report will focus on situations where automatic bit-rate detection fails (no traffic on the bus, error frames) and how to avoid these deadlocks.
public0.9 MiB2005-01-01Login
CiA 801 version 1.1.1CANopen Automatic bit-rate detection
WD290 KiB2018-03-26Login