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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 numberDevice class
CiA 401Generic I/O Modules
CiA 402Drives and Motion Control
CiA 404Measuring devices and Closed Loop Controllers
CiA 405IEC 61131-3 Programmable Devices
CiA 406Rotating and Linear Encoders
CiA 408Hydraulic Drives and Proportional Valves
CiA 410Inclinometers
CiA 412Medical Devices
CiA 413Truck Gateways
CiA 414Yarn Feeding Units (Weaving Machines)
CiA 415Road Construction Machinery
CiA 416Building Door Control
CiA 417Lift Control Systems
CiA 418Battery Modules
CiA 419Battery Chargers
CiA 420Extruder Downstream Devices
CiA 422Municipal Vehicles CleANopen
CiA 423Railway Diesel Control Systems
CiA 424Rail Vehicle Door Control Systems
CiA 425Medical Diagnostic Add-on Modules
CiA 445RFID Devices

 
A more detailed description of the contents of these profiles can be found at www.can-cia.org .