Preview to 2019
CiA has released new versions of the CleANopen profile and the CANopen Lift profile. The profile for modular I/O device will be mapped to the CANopen FD application layer.
The nonprofit CiA association maintains more than 20 000 pages of profile specifications. Some of them have been reviewed last year and are available for CiA members beginning of 2019. The CiA 417 (profile for lift control systems) and the CiA 422 (profile for refuse collecting vehicles) set of specifications are mapped to the Classic CANopen application layer. Within this year, several profiles will be adjusted to the CANopen FD application layer. First of all, the CANopen I/O profile will be updated and improved.
To make the existing CiA profiles more bus-independent, the CiA Technical Committee decided to split the profile specification in an application layer independent part and parts for the application layer mapping. CiA’s Special Interest Groups (SIG) responsible for the profiles support besides Classic CANopen on request also CANopen FD. CANopen FD specified in CiA 1301 is based on the CAN FD data link layer protocol providing payloads up to 64 byte. This allows larger PDOs.
In January, CiA establishes the Interest Group (IG) “Profiles”. This IG coordinates the profile-related SIGs. First task is the harmonized splitting of existing profile specifications in an application layer independent part. A first proposal for the most implemented profile, CiA 401 (modular I/O devices), has been distributed CiA-internally as work draft. It is regarded as prototype example.
The CANopen Lift application profile specifies so-called virtual devices. One or more of them are implemented in a CiA 417 CANopen device. This includes the call, drive, and car controllers as well as several units (e.g. display unit, drive unit, car door unit, and positioning unit). The updated version 2.3 specifies now a boot-loader mode and the program download handling. Additionally, this version introduces the position supervisor unit (PSU). The PSU includes the car position unit 1 and it provides functional safety features according to EN 81-20 and ASME regulations. It monitors the car speed, the car deceleration, and the unintended car movements (USM). The unit also provides safety limit switches and circuitry for bridging car door contacts.
The CiA 417 specification comprises four parts. Part 1 contains general definitions of the lift controllers and units. Part 2 specifying the virtual devices in detail has been updated editorially and provides the list of PSU parameters. The pre-defined PDOs for lift application 1 is given in part 3. Part 4 specifies the parameters. The version 2.3 introduces new parameters for the car drive and the car door controller as well as for the load measuring unit and the new PSU.
The CiA 422 application profile specifies the body controller (BC) and several functional entities such as bin lift, measuring, washing, and identification unit. New are the footstep (FSU), BC I/O (IOU), and crane unit (CRU). The legacy version 2.0 is also published as EN pr16815:2018 technical report. It is intended to update the EN technical report. CiA 422 also known as CleANopen has been implemented by many of the European garbage truck suppliers.
The CiA 422 specification version 2.1 comprises six parts. Part 1 provides general definitions and part 2 describes in detail the functionality of the virtual devices. Part 3-1 and part 3-2 specifies the TPDOs as well as RPDOs. Part 3-3 defines additional SDO channels for the confirmed communication between body controller and measuring units. The application parameters, process data and configuration data, are defined in part 4.
The legacy CiA 401 series of profile specification has two parts. Part 1 specifies generic CANopen I/O devices. Part 2 describes the implementation of joysticks using this profile. In order to map this most implemented profile to the CANopen FD application layer and other communication technologies using the same device model approach, CiA has separated the bus-independent I/O parameter specification in the CiA 1-401-1 document. It describes all the application parameters: process data as well as configuration data. It contains also error code definitions.
Further CAN FD design recommendations
The IG layer 1/2 responsible for data link and physical layer specifications and design recommendations is going to finalize in early spring some CAN FD device design recommendations for common-mode chokes and cables. Additionally, the Task Force (TF) signal improvement will release soon the so-called SIC (signal improvement circuit) specification. It is intended to use this approach for CAN FD networks running data phase bit-rates of up to 8 Mbit/s. The achievable bit-rate depends not just on the transceiver, but also on the chosen topology and the selected other physical layer components including cable and connectors.
CiA 3-401-1, still under development, provides the mapping to CANopen FD communication services, e.g. PDO, USDO, and EMCY. This mapping does not support Boolean parameters anymore. In a third document, CiA 2-401-1, the Classic CANopen mapping will be described without any functional change to the currently published CiA 401-1 document. In a second step, CiA will also split the CiA 401-2 joystick profile into an application-layer independent part and parts describing the mapping to CANopen FD and Classic CANopen. Of course, also mappings to other CAN data link layers (e.g. CAN XL) are possible. Mappings to Ethercat, Powerlink, Safetynet, and Varan are specified by the related associations. These specifications make references to CiA 401-1.
News and reports