CiA 401: CANopen device profile for generic I/O modules

The CiA 401 device profile specifies the CANopen interface for modules with analog and digital inputs and outputs. The default first TPDO and first RPDO support up to 64 digital inputs respectively up to 64 digital outputs. The remaining default PDOs transmit or receive up to 12 analog inputs respectively up to 12 analog outputs both with a 16-bit resolution. 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 may be implemented.
Several parameters are specified to configure the input and output behavior (e.g. trigger conditions for inputs, output behavior in case of internal device failures). 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 parameter as possible.
In the annex of the CiA 401 specification there are implementation hints for specific I/O modules such as joysticks. Joysticks are regarded as input modules with analog inputs for the three dimensions (x, y, z) and optional three bits to enable the memory function for the three dimensions.