Implementation of CiA 406 Device Profile for CANopen Compatible Encoders

CANopen 지원 엔코더를 위한 CiA 406 장치 프로파일 구현

Hwang, Hyunbum;Ahn, Hyosung;Kim, Sanghyun;Kim, Taehyoun

  • Received : 2015.05.12
  • Accepted : 2015.09.21
  • Published : 2015.12.01


Recently, fieldbus communication technologies have been widely deployed for industrial automation because they are profitable in providing easy system integration and management for multiple devices, as well as high-speed communication. It is essential for smart encoders to support fieldbus connectivity, where the device configuration and various types of information related to position are exchanged between an external controller and multiple encoders over the communication link. In this study, we implemented the CiA 406 device profile for smart encoders from the CANopen standards by extending an open-source CANopen standard-compliant framework, called CanFestival. The CiA 406 functionalities implemented in this study were validated on a test-bed consisting of a CANopen master and virtual CANopen encoders with our CiA 406 extension module.


Smart Encoder;CANopen;CiA 406;Open-source Software


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Supported by : 한국에너지기술평가원(KETEP)