CiA® 401 series: Device profile for generic I/O modules

This device profile series specifies the CANopen interface for modules with analog and digital inputs and outputs. Since version 3.1, the specification has been split into two documents: Part 1 defines the generic interface and part 2 describes dedicated interfaces for joysticks.

Part 1 contains block diagrams describing the relation between digital and analog process data and the related configuration parameters. It also defines the PDO (process data object) behavior regarding communication and mapping in detail. The default first TPDO (Transmit PDO) and 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).

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 so-called “M” bit in the device type parameter.

Several parameters are specified to configure the input and output behavior (e.g. trigger conditions for inputs, output behavior in case of internal device failures). 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 parameter as possible.

Part 2 specifies the CANopen interface for joysticks. These devices are regarded as input modules with analog inputs for three dimensions (x, y, z) and optional digital bits to enable the memory function for three dimensions. Also, foot pedals are like joysticks with 1-axis movement. Detailed definitions for joysticks with digital inputs and optional outputs as well as for 2-D and 3-D joysticks with special PDO mappings are also included.

Operator environments

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. 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
CiA 401 version 3.0.0CANopen profile for modular I/O devices
DescriptionThis specification represents the CANopen device profile for generic digital and analogue input and output modules. Devices compliant to this specification 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. In the appendices, some specific I/O devices are defined.
PAS2.0 MiB2008-06-03Login
CiA 401-B version 1.0.0.I/O device profile - Part B: Functional behavior and parameters
DescriptionThis document specifies the functional behavior and parameters of generic analog and digital input and output devices. Additionally, AnnexA specifies the functional behavior and parameters of specific analog and digital input and output devices such as joysticks.
DSP3.1 MiB2023-06-19Login
CiA 401-C version 1.0.0I/O device profile - Part C: Mapping to classic CANopen
DSP719 KiB2023-06-19Login
CiA 401-F version 1.0.0I/O device profile - Part F: Mapping to CANopen FD
DSP586 KiB2023-06-19Login
CiA 852 version 1.0.1CiA 401-based operator environment sub-system
DescriptionThis 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.
TR650 KiB2021-04-03Login