CiA® 401 series: I/O device profile

This device profile series specifies the CANopen interface for modular devices with analog and digital inputs and outputs. The most recent edition provides three parts:

  • CiA 401-B: Functional behavior and parameters
  • CiA 401-C: Mapping to CANopen CC
  • CiA 401-F: Mapping to CANopen FD

Part B contains block diagrams describing the relation between digital and analog process data and the related configuration parameters. Digital I/O lines are grouped to 8-bit (default), 16-bit, 32-bit, and 64-bit process data. The analog I/O process data feature resolutions of 8 bit, 16 bit (default), 32 bit, 64 bit, or REAL. Annex A specifies the parameters for joysticks. A single joystick can have 1-, 2-, or 3-axes movements. The joystick with three axes can support a rotational movement around one axis, additionally, to the movements along each of two axes as for example forward to backward and left to right movements. Foot pedals can be regarded as joysticks with a 1-axis movement.

Additionally, Part B specifies configuration parameters to adapt the input and output behavior (e.g. trigger conditions for inputs, output behavior in case of internal device failures) to the desired application. Most of these configuration parameters are optional. In order to cover a broad range of application requirements, it is recommended to implement as many of these parameters as possible.

Part C specifies the mapping to CANopen CC (CiA 301). The first TPDO (Transmit PDO) and the first RPDO (Receive PDO) support up to 8 by 8 digital (64) inputs respectively up to 8 by 8 (64) digital outputs. Besides byte-wise mapping, optionally bit-wise and word-wise mapping is possible. The remaining three default PDOs transmit or receive up to 12 analog inputs, respectively up to 12 analog outputs. The default resolution is 16 bit. Other resolutions are optional (e.g. 8 bit or 32 bit, or REAL).

Part F specifies the mapping to CANopen FD (CiA 1301). TPDO 1 indicates by default up to byte-wise grouped 512 digital input values. RPDO 1 provides by default up to 512 digital output values, also grouped byte-wise. TPDO 2 indicates by default up to 32 analog input values with a resolution of 16 bit. RPDO 2 provides by default up to 32 analog output values with a resolution of 16 bit.

In order to optimize the PDO communication, it is recommended to support PDO linking as well as variable PDO mapping. Alternatively, a manufacturer-specific set of default PDOs can be implemented. This is indicated in the “M” bit in the device type parameter.

CiA 401 version 3.1 is the legacy modular I/O device profile specification. Part 1 specifies generic I/O parameters and the mapping to CANopen CC. Part 2 is dedicated for joysticks.

The CiA 852 recommended practice for operator environment sub-systems (e.g. human machine interfaces in mobile machines) is based on the CiA 401 profile specification. Such sub-systems are for example simple remote-control units, operator seats with integrated joysticks, foot pedals, push buttons, indicators, etc., and complete operator cabins. They are dedicated but not limited to construction, mining, agriculture and forestry machines, to harbor cranes, boats and vessels, wheelchairs, and any other kind of machines on wheels.

CiA 852 recommends for example the numbering of sub-devices and the numbering of components of sub-devices. In total, the recommendation is suitable for up to 16 joysticks, up to 16 food-pedals, up to eight encoders, up to eight wheels, up to eight push-button clusters, up to eight indicator clusters, and up to eight displays. For all these functional elements, PDO (process data object) mappings are pre-defined.

 

Title Details
Published
Size
Status
Action
CiA 301 version 4.2.0 CANopen application layer and communication profile
Scope

This 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 pre- defined communication object identifier connection set, and the content of the Emergency, Time- stamp, and Sync communication objects.

2011-02-21 3 MB PAS Login
CiA 1301 version 1.1.0 CANopen FD application layer and communication profile
Scope

This document specifies the CANopen FD application layer and communication profile. 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. It covers also the mapping to the CAN lower layers (CAN FD data link layer and CAN physical medium attachment options).

2023-11-09 3 MB DSP Login
CiA 852 version 1.0.1 CiA 401-based operator environment sub-system
Scope

This document recommends how to implement the CANopen interface for operator environments with human-machine interface functionality. It is based on the CiA 401 CANopen profile for generic I/O modules. It recommends how to use the digital and analog process data parameters specified in CiA 401. It also recommends a mapping of these parameters into PDOs.

2021-04-03 648 KB TR Login
CiA 401-B version 1.0.0 I/O device profile - Part B: Functional behavior and parameters
Scope

This document specifies the functional behavior and parameters of generic analog and digital input and output devices. Additionally, Annex A specifies the functional behavior and parameters of specific analog and digital input and output devices such as joysticks.

2023-06-19 3 MB DSP Login
CiA 401-C version 1.0.0 I/O device profile - Part C: Mapping to classic CANopen
Scope

This document specifies the CANopen mapping for a generic digital and analog I/O device and joystick. Annex B specifies CANopen mapping CiA 401-B for joysticks.

2023-06-19 717 KB DSP Login
CiA 401-F version 1.0.0 I/O device profile - Part F: Mapping to CANopen FD
Scope

This document specifies the CANopen FD mapping for generic digital and analog I/O devices and joysticks (Annex B).

2023-06-19 584 KB DSP Login
CiA 401-2 version 3.1.0 CANopen profile for I/O devices - Part 2: Joysticks
Scope

This CANopen profile specifies generic CANopen digital and analog input and output devices. Devices compliant to this specifications use communication techniques, which conform to those described in the CANopen application layer and communication profile specification. In addition, programmable I/O devices may use communication techniques, which conform to those described in the CANopen additional application layer functions. This profile consists of several parts: ⎯ Part 1: Generic I/O devices ⎯ Part 2: Joysticks This part of the profile specifies the CANopen interface for joysticks and similar devices, e.g. foot-pedals.

2013-02-12 494 KB PAS Login