CiA® 422 series: CANopen application profile for municipal vehicles

The CANopen application profile CiA 422 describes the CleANopen embedded body control network of refuse collecting vehicles. It specifies the CANopen communication interfaces of several functional units (virtual devices), required for the control of the refuse collection application:

  • Body controller (BC)
  • Bin classification unit (BCU)
  • Container change unit (CCU)
  • Compaction unit (CU)
  • Foot step unit (FSU)
  • GPS unit (GPSU)
  • Identification unit (IDU)
  • Input/output unit (IOU)
  • Lifter unit (LU)
  • Measuring unit (MU)
  • Truck gateway unit (TGU)
  • Washing unit (WU)
  • etc.

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.

 

Title Details
Published
Size
Status
Action
CiA 422-4 version 2.1.0 CANopen application profile for municipal vehicles – Part 4: Application objects
Scope

This 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.

 2018-12-20 2 MB DSP Login
CiA 422-2 version 2.1.4 CANopen application profile for municipal vehicles - Part 2: Virtual device functionality
Scope

 2024-07-30 514 KB WD Login
CiA 422-3-1 version 2.1.4 CANopen application profile for municipal vehicles - Part 3-1: Pre-defined TPDOs
Scope

 2024-07-30 4 MB WD Login
CiA 422-3-2 version 2.1.4 CANopen application profile for municipal vehicles - Part 3-2: Pre-defined RPDOs
Scope

 2024-07-30 4 MB WD Login
CiA 422-3-3 version 2.1.4 CANopen application profile for municipal vehicles - Part 3-3: Pre-defined SDOs
Scope

 2024-07-30 702 KB WD Login
CiA 422-4 version 2.1.4 CANopen application profile for municipal vehicles - Part 4: Application objects
Scope

 2024-07-30 2 MB WD Login
CiA 422-1 version 2.1.0 CANopen application profile for municipal vehicles - Part 1: General definitions
Scope

This 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.

 2018-12-20 577 KB DSP Login
CiA 422-1 version 2.1.4 CANopen application profile for municipal vehicles - Part 1: General definitions
Scope

 2024-07-30 705 KB WD Login
CiA 422-3-1 version 2.1.0 CANopen application profile for municipal vehicles - Part 3-1: Pre-defined TPDOs
Scope

This 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.

2018-12-20 4 MB DSP Login
CiA 422-3-2 version 2.1.0 CANopen application profile for municipal vehicles - Part 3-2: Pre-defined RPDOs
Scope

This 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 RPDOs.

 2018-12-20 4 MB DSP Login
CiA 422-3-3 version 2.1.0 CANopen application profile for municipal vehicles - Part 3-3: Pre-defined SDOs
Scope

This 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.

 2018-12-20 644 KB DSP Login
CiA 422-2 version 2.1.0 CANopen application profile for municipal vehicles - Part 2: Virtual device functionality
Scope

This 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).

 2018-12-20 641 KB DSP Login