The CANopen profiles for encoders (CiA 406) and inclinometers (CiA 410) have been updated and released as version 4.0 resp. version 2.0. Both profiles specify safety-related sensor data and its mapping into SRDOs (safety-related data objects) as defined in CANopen-Safety (EN 50325-5).
THE CiA 406 AND CiA 410 SPECIFICATIONS are the first to standardize functional safety on the device profile level. Next in the pipeline is the profile for drives and motion controllers (CiA 402 series). CANopen-Safety is supported by an increasing number of IEC 61131-3 programmable controllers. They are mainly applied in mobile machines. The released CANopen sensor profiles allow interoperability between encoders respectively inclinometers from different vendors. This means the user can substitute those devices without huge configuration effort.
The CiA 406 specification standardizes three encoder classes. Each class may additionally support functional safety. The specified SRDOs contain the byte-wise mapped safety-related position values. The first CAN message of the SRDO provides the plain value, while the second message comprises the bit-wise inverted value.
The CiA 410 profile specifies four inclinometer classes: for 16-bit or 32-bit resolutions respectively for one or two-axis devices. Optionally, they support CANopen-Safety. Besides backwards-compatible default PDO mapping, the reviewed profile also specifies two alternative PDO mappings. All inclinometers compliant with this profile must support synchronous PDO transmission.
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