CiA 408: CANopen device profile fluid power technology

The CiA 408 device profile is based on the bus-independent profile framework for fluid systems released by the VDMA (nonprofit organization of German machine builders). It describes the functionality of interconnectable proportional valves, hydrostatic pumps, and hydrostatic transmissions. It is also applicable to pneumatic pumps. Devices compliant to this specification are used in mobile machines (e.g. construction machinery, agriculture and forestry machines) and in industrial machinery as well as process and factory automation.
The finite state automaton (FSA) for both valves and drives is harmonized. The definitions for both device classes are similar. The operation mode parameter determines how the actual values are presented. The system designer selects the control mode by configuring the corresponding parameters, e.g. spool position open/closed-loop control or pressure open/closed-loop control or pressure flow control.

The pre-defined TPDOs and RPDOs contain the FSA status-word respectively the FSA control-word and actual values respectively command values depending on the configured control mode.