CiA^® 422 series of documents: CANopen application profile for municipal vehicles

The CiA 422 application profile specifies virtual devices for garbage trucks. CiA 422-compliant devices may implement one or more of the following virtual devices:

• Lifter unit
• Measuring unit
• Container unit
• Bin classification unit
• Compaction unit
• etc.

The application profile pre-defines all necessary PDOs as well as some additional SDO channels. The specified process data and configuration parameters are organized as arrays. The device implements only those sub-indices, which correspond to the used instances of the virtual device. For example: Lifter unit 5 supports sub-index 5 of the relevant application objects.
The application profile specification includes four parts:

• Part 1: General definitions and physical layer specifications
• Part 2: Virtual devices definitions
• Part 3: Pre-defined communication objects
• Part 4: Detailed application object specification

The CiA 422 series version 1.0 is not recommended for implementation, the documents are under review and will be completely redefined. The next version of CiA 422 will be published soon and is partly incompatible to version 1.0.