CiA® 422 series: CANopen application profile for municipal vehicles

The CiA 422 application profile specifies virtual devices for refuse collecting vehicles. CiA 422 compliant devices may implement one or more of the following virtual devices:

  • Lifter unit
  • Measuring unit
  • Container unit
  • Bin classification unit
  • Compaction unit
  • etc.

The application profile pre-defines all necessary PDOs as well as some additional SDO channels. The specified process data and configuration parameters are organized as arrays. The device implements only those sub-indices which correspond to the used instances of the virtual device. For example: Lifter unit 5 supports sub-index 5 of the relevant application objects.

The application profile specification includes four parts:

  • Part 1: General definitions and physical layer specifications
  • Part 2: Virtual devices definitions
  • Part 3: Pre-defined communication objects
  • Part 4: Detailed application object specification

CiA has submitted CiA 422 series (version 2) to CEN for European standardization. It is published as EN 16815 standard (CleANopen. Application profile for municipal vehicles) since 2019.

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CiA 422-4 version 2.1.1CANopen application profile for municipal vehicles - Part 4: Application objects
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CiA 422-3-3 version 2.1.2CANopen application profile for municipal vehicles - Part 3-3: Pre-defined SDOs
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CiA 422-3-2 version 2.1.1CANopen application profile for municipal vehicles - Part 3-2: Pre-defined RPDOs
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CiA 422-3-1 version 2.1.1CANopen application profile for municipal vehicles - Part 3-1: Pre-defined TPDOs
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CiA 422-2 version 2.1.1CANopen application profile for municipal vehicles - Part 2: Virtual device functionality
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CiA 422-1 version 2.1.1CANopen application profile for municipal vehicles - Part 1: General definitions
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CiA 422-1 version 2.1.0CANopen application profile for municipal vehicles – Part 1: General definitions
DescriptionThis set of CANopen application profile specifications describes the CleANopen embedded body control network of municipal vehicles, e.g. refuse collecting trucks. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). It does not specify CANopen devices. With special regard to functional safety, any device is responsible for a safe operation, by itself. Any measure that increases the probability for safe operation and utilizes the CAN communication is just on top. Therefore these measures are not safety-relevant in terms of functional safety. The CleANopen application profile specifications consists of several parts: Part 1 provides the general definitions, Part 2 specifies the functionality of the virtual devices, Part 3 specifies the pre-defined PDOs and SDOs, Part 4 specifies the application objects. This part provides some general definitions of CleANopen and specifies the CAN physical layer as well as the error handling.
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DSP577 KiB2018-12-20Login
CiA 422-2 version 2.1.0CANopen application profile for municipal vehicles – Part 2: Virtual device functionality
DescriptionThis set of CANopen application profile specifications describes the CleANopen embedded body control network of municipal vehicles, e.g. refuse collecting trucks. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). It does not specify CANopen devices. The CleANopen application profile specifications consists of several parts: Part 1 provides the general definitions, Part 2 specifies the functionality of the virtual devices, Part 3 specifies the pre-defined PDOs and SDOs, Part 4 specifies the application objects. This part specifies the general communication parameter. It specifies for each virtual device the supported application objects including the category, access, and default value attributes. It describes the supported Process Data Objects (PDO) and additional Service Data Objects (SDO).
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DSP641 KiB2018-12-20Login
CiA 422-3-1 version 2.1.0CANopen application profile for municipal vehicles – Part 3-1: Pre-defined TPDOs
DescriptionThis set of CANopen application profile specifications describes the CleANopen embedded body control network of municipal vehicles, e.g. refuse collecting trucks. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). It does not specify CANopen devices. The CleANopen application profile specifications consists of several parts: Part 1 provides the general definitions, Part 2 specifies the functionality of the virtual devices, Part 3 specifies the pre-defined PDOs and SDOs, Part 4 specifies the application objects. This sub-part of part 3 specifies the communication and mapping parameter sets of the pre-defined TPDOs.
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DSP4.2 MiB2018-12-20Login
CiA 422-3-2 version 2.1.0CANopen application profile for municipal vehicles – Part 3-2: Pre-defined RPDOs
DescriptionThis set of CANopen application profile specifications describes the CleANopen embedded body control network of municipal vehicles, e.g. refuse collecting trucks. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). It does not specify CANopen devices. The CleANopen application profile specifications consists of several parts: Part 1 provides the general definitions, Part 2 specifies the functionality of the virtual devices, Part 3 specifies the pre-defined PDOs and SDOs, Part 4 specifies the application objects. This sub-part of part 3 specifies the communication and mapping parameter sets of the predefined RPDOs
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DSP3.8 MiB2018-12-20Login
CiA 422-4 version 2.1.0CANopen application profile for municipal vehicles – Part 4: Application objects
DescriptionThis set of CANopen application profile specifications describes the CleANopen embedded body control network of municipal vehicles, e.g. refuse collecting trucks. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). It does not specify CANopen devices. The CleANopen application profile specifications consists of several parts: Part 1 provides the general definitions, Part 2 specifies the functionality of the virtual devices, Part 3 specifies the pre-defined PDOs and SDOs, Part 4 specifies the application objects. This part specifies the values and value range attribute of the application objects. It specifies also the object and data type attributes of the application objects.
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DSP2.2 MiB2018-12-20Login
CiA 422-3-3 version 2.1.0CANopen application profile for municipal vehicles – Part 3-3: Pre-defined SDOs
DescriptionThis set of CANopen application profile specifications describes the CleANopen embedded body control network of municipal vehicles, e.g. refuse collecting trucks. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). It does not specify CANopen devices. The CleANopen application profile specifications consists of several parts: Part 1 provides the general definitions, Part 2 specifies the functionality of the virtual devices, Part 3 specifies the pre-defined PDOs and SDOs, Part 4 specifies the application objects. This sub-part of part 3 specifies the pre-defined additional SDO clients and servers.
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