CiA® 410 series: Profile for inclinometers

The CiA 410 profile series specifies the application interface for single- and dual-axis inclinometers. The CiA 410-B document (still under development) based on the legacy CiA 410 document specifies the process data, the configuration parameters, and the diagnostic information. The mappings to classic CANopen (CiA 410-C) and to CANopen FD (CiA 410-F) are under development. The CiA 406-J document specifies the mapping to J1939-based networks.

Device manufacturers may supply various markets with inclinometers implementing the same electronic interface according to CiA 410 and vary just the appropriate application software. System designers can choose between inclinometers from different manufacturers, because of the interoperability and partly interchangeability. For development, analysis, and maintenance of the sensors, off-the-shelf tools can be used.

The inclinometer profile 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 CiA 410 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.

The inclinometer shall be capable to permanently store parameters, to generate SYNC messages as well as 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.

The CiA 410-J document specifies the mapping to J1939 parameter groups (PGs). The process data such as inclination values are mapped into PGs using standards PGNs (PG numbers). The ISLONG16 and ISLONG32 parameter groups are used for 16-bit or 32-bit one-axis inclinometer accordingly. The ISLAT16 and ISLAT32 parameter groups are used in case of 16-bit or respectively 32-bit two-axis inclinometers.

For configuration and diagnostic purposes CANopen SDO and Emergency services are mapped into standardized PGs (see CiA 510).

Title Details
CiA 410-F version 0.0.3Inclinometer device profile, Part F: CANopen FD mapping
WD429 KiB2021-02-05Login
CiA 410-C version 0.0.3Inclinometer device profile, Part C: CANopen mapping
WD576 KiB2021-02-05Login
CiA 410 version 2.0.0CANopen device profile for inclinometer
DescriptionThis profile specifies the CANopen interface for one- and two-axis inclinometers. This sensor interface provides optionally also temperature, speed, acceleration, and jerk process values. The specification includes optional CANopen safety-communication interface compliant to safety integrity levels (SIL) as defined in IEC 61508.
DSP1.1 MiB2014-03-25Login
CiA 410 version 1.3.0CANopen device profile for inclinometer
DescriptionThis specification represents the CANopen device profile for one- and two-axis inclinometers.
PAS457 KiB2010-02-23Login
CiA 410-J version 1.1.0Inclinometer device profile - Part J: Mapping to J1939
DescriptionThis document specifies the mapping of CiA 410 process data into J1939 parameter groups. This includes the specification of parameter groups and the configuration by means of the CAM11 and CAM21 parameter groups specified in the CiA 510 specification.
DSP214 KiB2020-12-01Login
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.
PAS3.0 MiB2011-02-21Login
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 server capability by a CANopen device with LSS manager capability via the CAN network.
DSP1.9 MiB2013-05-08Login
CiA 801 version 1.1.1CANopen Automatic bit-rate detection
WD290 KiB2018-03-26Login
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.
TR334 KiB2005-01-01Login
CiA 106 version 1.1.0Connector pin-assignment recommendations
DescriptionThis document recommends the connector pin-assignment for CAN interfaces. This includes the CAN_H and CAN_L pins, the ground pin, and the power supply pins.
TR0.9 MiB2023-07-11Login