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Device and Application Profiles |
Standardized device and application profiles |
Based on the CiA 301 as the fundamental CANopen specification, there is a large number of further
documents defining standard devices or standard applications. In these supplementary standards (device
and application profiles), the behavior and parameters of standardized devices or applications are defined
by the corresponding object dictionary entries. The aim of the standardization by means of device profiles
is that devices of one class can be interchanged, thus allowing for vendor-independence. Application profiles
should facilitate integration of systems consisting of devices from different vendors. Generic device profiles
describe the interface of one single device, while application profiles describe all device interfaces which
are part of an application. Device profiles can also contain additional error codes, compiled data types,
device LEDs and many other things. A device profile usually defines a default mapping for the first four
receive and transmit PDOs providing the most common profile specific object dictionary entries. This way,
a device can be used directly off-the-shelf without the need to parameterise its communication entries.
It is not possible to fully describe a device in all possible variations. Therefore, all profiles allow
for the definition of vendor-specific properties within the so-called "vendor-specific profile range".
It is thus possible to describe functions, attributes and parameters that are not contained in the standard
profile.
CiA 401 ("Device Profile for I/O Modules") is the best-known and most important device profile. This profile
describes analogue and digital input and output interfaces and their ability to be parameterized. CiA 401
specifies object dictionary entries for a maximum of 2040 digital inputs/outputs and up to 255 analogue
inputs/outputs. Besides of standardised entries for the current values there are a series of further OD
entries to parameterize the behavior of these inputs/outputs.
Another very important device profile is CiA 402, the device profile for drives with CANopen interface
("Drives and Motion Control"). This profile covers servo controllers, stepper motors and frequency
converters. Like CiA 401, it is also based on a model for the behavior of a drive. The drive model
defines a state machine and supports amongst others position mode, velocity mode and torque mode of
operation. Two of the most important and thus mandatory object dictionary entries are the "control word"
and the "status word" for setting and getting back the drive mode and state. They are mapped first in each
default PDO.
The following table lists the currently defined CANopen device and application profiles:
| Profile number | Device class |
| CiA 401 | Generic I/O Modules |
| CiA 402 | Drives and Motion Control |
| CiA 404 | Measuring devices and Closed Loop Controllers |
| CiA 405 | IEC 61131-3 Programmable Devices |
| CiA 406 | Rotating and Linear Encoders |
| CiA 408 | Hydraulic Drives and Proportional Valves |
| CiA 410 | Inclinometers |
| CiA 412 | Medical Devices |
| CiA 413 | Truck Gateways |
| CiA 414 | Yarn Feeding Units (Weaving Machines) |
| CiA 415 | Road Construction Machinery |
| CiA 416 | Building Door Control |
| CiA 417 | Lift Control Systems |
| CiA 418 | Battery Modules |
| CiA 419 | Battery Chargers |
| CiA 420 | Extruder Downstream Devices |
| CiA 422 | Municipal Vehicles – CleANopen |
| CiA 423 | Railway Diesel Control Systems |
| CiA 424 | Rail Vehicle Door Control Systems |
| CiA 425 | Medical Diagnostic Add-on Modules |
| CiA 445 | RFID Devices |
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A more detailed description of the contents of these profiles can be found at www.can-cia.org  . |
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CANopen Basics