CleANopen updated

CleANopen is the trade name of the CANopen application profile for refuse collecting vehicles (CiA 422 series).

The profile is internationally standardized in the EN pr16815:2018 technical report, which is based on the version 2.0 of the CiA 422. The application profile specifies the body controller (BC) and several functional entities such as bin lift, measuring, washing, and identification unit. The nonprofit CAN in Automation (CiA) association developing and maintaining the CiA 422 series has released already the version 2.1. New functions include the footstep unit (FSU), the BC I/O unit (IOU), and the crane unit (CRU). It is intended to update the EN technical report, too. Most European garbage truck suppliers have implemented this CANopen profile.

The CiA 422 specification version 2.1 comprises six parts. Part 1 provides general definitions and part 2 describes in detail the functionality of the virtual devices (body controller and units). Part 3-1 and part 3-2 specify the TPDO as well as RPDO messages containing the process data exchanged between the virtual devices. Part 3-3 defines additional SDO channels for the confirmed communication between body controller (BC) and measuring units (MU). The application parameters, process data, and configuration data, are defined in detail in part 4.

The version 2.1 is still based on the Classic CANopen application layer as specified in CiA 301. “The migration to CANopen FD as specified in CiA 1301 is already under discussion,” said Holger Zeltwanger, CiA Managing Director. “First CiA 422 implementers have started to evaluate the hardware requirements including the impacts on the physical network design.”