This device profile series specifies the CANopen interface for modular devices with analog and digital inputs and outputs. The most recent edition provides three parts:

• CiA 401-B: Functional behavior and parameters
• CiA 401-C: Mapping to CANopen CC
• CiA 401-F: Mapping to CANopen FD

CiA 401-B contains block- and UML activity diagrams describing the relation between digital and analog process data and related configuration parameters. Digital I/O lines are grouped to 8-bit (default), 16-bit, 32-bit, and 64-bit process data. Also a digital I/O management is supported and allows to select line direction and type of the line. The analog I/O process data feature resolutions of 8 bit, 16 bit (default), 32 bit, 64 bit, and float-point value).

Annex A specifies parameters for 1-, 2-, and 3-axes joysticks. The joystick with three axes can support a rotational movement around one axis, additionally, to movements along each of two axes as for example forward to backward and left-to-right movements. Foot pedals can be regarded as joysticks with a 1-axis movement.

Additionally, CiA 401-B specifies configuration parameters to adapt the input and output behavior (e.g. trigger conditions for inputs, output behavior in case of internal device failures) to the desired application. Most of these configuration parameters are optional. In order to cover a broad range of application requirements, it is recommended to implement as many of these parameters as possible.

CiA 401-C specifies the mapping to CANopen CC (CiA 301). The first TPDO (Transmit PDO) and the first RPDO (Receive PDO) support up to 8 by 8 digital (64) inputs respectively up to 8 by 8 (64) digital outputs. Besides byte-wise mapping, optionally 16-bit and 32-bit parameter mapping is possible. The remaining three default PDOs transmit or receive up to 12 analog inputs, respectively up to 12 analog outputs. The default resolution is 16 bit. Other resolutions are optional (e.g. 8-bit or 32-bit, or float-point value).

CiA 401-F specifies the mapping to CANopen FD (CiA 1301). TPDO 1 indicates by default up to byte-wise grouped 512 digital input values. RPDO 1 provides by default up to 512 digital output values, also grouped byte-wise. TPDO 2 indicates by default up to 32 analog input values with a resolution of 16 bit. RPDO 2 provides by default up to 32 analog output values with a resolution of 16 bit.

In order to optimize the PDO communication, it is recommended to support PDO linking as well as variable PDO mapping. Alternatively, a manufacturer-specific set of default PDOs can be implemented. This is indicated in the “M” bit in the device type parameter.

CiA 401 version 3.1 is the legacy modular I/O device profile specification. CiA 401-1 specifies generic I/O parameters and the mapping to CANopen CC. CiA 401-2 is dedicated for joysticks.

The CiA 852 recommended practice for operator environment sub-systems (e.g. human machine interfaces in mobile machines) is based on the CiA 401 profile specification. Such sub-systems are for example simple remote-control units, operator seats with integrated joysticks, foot pedals, push buttons, indicators, etc., and complete operator cabins. They are dedicated but not limited to construction, mining, agriculture and forestry machines, to harbor cranes, boats and vessels, wheelchairs, and any other kind of machines on wheels.

CiA 852 recommends for example the numbering of sub-devices and the numbering of components of sub-devices. In total, the recommendation is suitable for up to 16 joysticks, up to 16 food-pedals, up to eight encoders, up to eight wheels, up to eight push-button clusters, up to eight indicator clusters, and up to eight displays. For all these functional elements, PDO (process data object) mappings are pre-defined.