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Public Available Specification

CiA 404

Version 1.2.0

May 15, 2002

CANopen profile for measuring devices and

closed-loop controllers

CANopen profile for measuring devices and closed-loop controllers

HISTORY

Date

Changes

2002-05-15

Publication of version 1.2.0 as draft standard (now publicly available)

NOTE: This document has been converted into “docx format”.

The conversion caused minor layout differences to the predecessor document in

“doc format”. The technical content word-by-word is the very same.

General information on licensing and patents

CAN in AUTOMATION (CiA) calls attention to the possibility that some of the elements of this CiA

specification may be subject of patent rights. CiA shall not be responsible for identifying any or all such

patent rights.

Because this specification is licensed free of charge, there is no warranty for this specification,

to the extent permitted by applicable law. Except when otherwise stated in writing the copyright

holder and/or other parties provide this specification “as is” without warranty of any kind, either

expressed or implied, including, but not limited to, the implied warranties of merchantability and

fitness for a particular purpose. The entire risk as to the correctness and completeness of the

specification is with you. Should this specification prove failures, you assume the cost of all

necessary servicing, repair or correction.

Trademarks

CANopen and CiA are registered community trademarks of CAN in Automation. The use is

restricted for CiA members or owners of CANopen® vendor ID. More detailed terms for the use

are available from CiA.

in any form or by any means, electronic or mechanical, including photocopying and microfilm, without

permission in writing from CiA at the address below.

CAN in Automation e. V.

Kontumazgarten 3

DE - 90429 Nuremberg, Germany

Tel.: +49-911-928819-0

Fax: +49-911-928819-79

Url: www.can-cia.org

Email: headquarters@can-cia.org

CANopen profile for measuring devices and closed-loop controllers  
© CiA 2002 - All rights reserved   3 
 
CONTENTS 
SCOPE ............................................................................................................................ 8 
REFERENCES ................................................................................................................ 9 
DEFINITIONS AND ABBREVIATIONS ....................................................................... 10 
OPERATING PRINCIPLE ............................................................................................ 11 
1  Introduction .......................................................................................................... 11 
2  General object dictionary layout .......................................................................... 12 
2.1  Digital input function block ............................................................................ 14 
2.2  Analogue input function block ....................................................................... 14 
2.3  Digital output function block .......................................................................... 15 
2.4  Analogue output function block ..................................................................... 16 
2.5  Controller function block................................................................................ 17 
2.6  Alarm function block ...................................................................................... 18 
2.7  Device function block .................................................................................... 18 
ERROR HANDLING ..................................................................................................... 19 
1  Principle ............................................................................................................... 19 
2  Error behaviour .................................................................................................... 19 
3  Error code meanings ........................................................................................... 19 
4  Additional error codes .......................................................................................... 20 
PRE-DEFINITIONS ....................................................................................................... 21 
1  Principle ............................................................................................................... 21 
2  Naming conventions ............................................................................................ 21 
3  PDO Mapping ...................................................................................................... 21 
3.1  Object 1000h: Device type ............................................................................ 21 
3.2  Object 1001h: Error Register ........................................................................ 21 
3.3  Object 1029h: Error Behaviour ..................................................................... 22 
3.4  1st receive PDO parameters (Received Process Values) ............................ 23 
3.5  1st transmit PDO parameters (Analogue Input)............................................ 24 
3.6  2nd receive PDO parameters (Command Values for Controller) ................. 24 
3.7  2nd transmit PDO parameters (Effective Controller Output) ........................ 25 
3.8  3rd receive PDO parameters (alternate received  process value) ............... 25 
3.9  3rd transmit PDO parameters (alarm)........................................................... 26 
3.10  4th receive PDO parameters (Digital Output) ............................................... 26 
3.11  4th transmit PDO parameters (Digital Input) ................................................. 27 
3.12  5th receive PDO parameters (Control Bytes) ............................................... 27 
3.13  6th receive PDO parameters (Multiplexor PDO)........................................... 28 
OBJECT DICTIONARY ................................................................................................ 29 

CANopen profile for measuring devices and closed-loop controllers 
© CiA 2002 - All rights reserved 
 
1  Survey object dictionary ...................................................................................... 30 
1.1  Digital input function block ............................................................................ 30 
1.2  Analogue input function block ....................................................................... 30 
1.3  Digital output function block .......................................................................... 32 
1.4  Analogue output function block ..................................................................... 32 
1.5  Controller function block................................................................................ 33 
1.6  Alarm function block ...................................................................................... 35 
1.7  Device function block .................................................................................... 36 
2  Detailed object specification ................................................................................ 37 
2.1  Object 6000h: DI Read state 8 Input Lines ................................................... 37 
2.2  Object 6002h: DI Polarity 8 Input Lines ........................................................ 38 
2.3  Object 6020h: DI Read state 1 Input Lines ................................................... 39 
2.4  Object 6030h: DI Polarity 1 Input Lines ........................................................ 40 
2.5  Object x100h: AI Input FV ............................................................................. 41 
2.6  Object x103h: AI Interrupt delta input FV ...................................................... 42 
2.7  Object 6110h: AI Sensor type ....................................................................... 43 
2.8  Object 6111h: AI Autocalibration .................................................................. 44 
2.9  Object 6112h: AI Operating mode ................................................................ 46 
2.10  Object 6114h: Al ADC sample rate ............................................................... 47 
2.11  Object x120h: AI Input scaling 1 FV.............................................................. 48 
2.12  Object x121h: AI Input scaling 1 PV ............................................................. 49 
2.13  Object x122h: AI Input scaling 2 FV.............................................................. 50 
2.14  Object x123h: AI Input scaling 2 PV ............................................................. 51 
2.15  Object x124h: AI Input offset ......................................................................... 52 
2.16  Object 6125h: AI Autozero ............................................................................ 53 
2.17  Object x126h: AI Scaling Factor ................................................................... 54 
2.18  Object 6127h: AI Scaling Offset .................................................................... 55 
2.19  Object x130h: AI Input PV ............................................................................. 56 
2.20  Object 6131h: AI Physical unit PV ................................................................ 57 
2.21  Object 6132h: AI Decimal digits PV .............................................................. 58 
2.22  Object x133h: AI Interrupt delta input PV ..................................................... 59 
2.23  Object x134h: AI Interrupt lower limit input PV ............................................. 60 
2.24  Object x135h: AI Interrupt upper limit input PV............................................. 61 
2.25  Object x138h: AI Tare zero ........................................................................... 62 
2.26  Object 6139h: AI Autotare ............................................................................. 63 
2.27  Object x140h: AI Net PV ............................................................................... 64 
2.28  Object x143h: AI Interrupt delta net PV ........................................................ 65 
2.29  Object x144h: AI Interrupt lower limit net PV ................................................ 66 
2.30  Object x145h: AI Interrupt upper limit net PV ............................................... 67 

CANopen profile for measuring devices and closed-loop controllers  
© CiA 2002 - All rights reserved   5 
 
2.31  Object x148h: AI Span start .......................................................................... 68 
2.32  Object x149h: AI Span end ........................................................................... 69 
2.33  Object 6150h: AI Status ................................................................................ 70 
2.34  Object 6160h: AI Control byte ....................................................................... 72 
2.35  Object 6161h: AI Control byte enable ........................................................... 73 
2.36  Object 61A0h: Al Filter type .......................................................................... 74 
2.37  Object 61A1h: Al Filter constant ................................................................... 75 
2.38  Object 6200h: DO Write state 8 output lines ................................................ 76 
2.39  Object 6202h: DO Polarity 8 output lines ...................................................... 77 
2.40  Object 6206h: DO Fault mode 8 output lines ................................................ 78 
2.41  Object 6207h: DO Fault state 8 output lines ................................................. 79 
2.42  Object 6210h: DO Link object 8 output lines ................................................ 80 
2.43  Object 6220h: DO Write state 1 output lines ................................................ 81 
2.44  Object 6240h: DO Polarity 1 output lines ...................................................... 82 
2.45  Object 6250h: DO Fault mode 1 output lines ................................................ 83 
2.46  Object 6260h: DO Fault state 1 output lines ................................................. 84 
2.47  Object 6280h: DO Link object 1 output lines ................................................ 85 
2.48  Object x300h: AO Output PV ........................................................................ 86 
2.49  Object 6301h: AO Physical unit PV .............................................................. 87 
2.50  Object 6302h: AO Decimal digits PV ............................................................ 88 
2.51  Object 6303h: AO Link output PV ................................................................. 89 
2.52  Object 6310h: AO Output type ...................................................................... 90 
2.53  Object x320h: AO Output scaling 1 PV ......................................................... 91 
2.54  Object x321h: AO Output scaling 1 FV ......................................................... 93 
2.55  Object x322h: AO Output scaling 2 PV ......................................................... 94 
2.56  Object x323h: AO Output scaling 2 FV ......................................................... 95 
2.57  Object x330h: AO Output FV ........................................................................ 96 
2.58  Object 6331h: AO Physical unit FV............................................................... 97 
2.59  Object 6332h: AO Decimal digits FV ............................................................ 98 
2.60  Object 6340h: AO Fault mode ...................................................................... 99 
2.61  Object x341h: AO Fault FV ......................................................................... 100 
2.62  Object x400h: CO Effective Current Value Xeff .......................................... 101 
2.63  Object x401h: CO Effective Set Point Weff ................................................ 102 
2.64  Object x402h: CO Set point W .................................................................... 103 
2.65  Object x403h: CO 2nd Set point W2 ........................................................... 104 
2.66  Object x404h: CO Lower Set Point Limit W0 .............................................. 105 
2.67  Object x405h: CO Upper Set Point Limit W100 .......................................... 106 
2.68  Object 6406h: CO Physical Unit Current Value / Set Point ........................ 107 
2.69  Object 6407h: CO Decimal Digits Current Value / Set Point ...................... 108 