CiA 404: CANopen device profile for measuring devices and closed-loop controllers

The CiA 404 device profile is dedicated to analog transducers that may also provide digital I/O capability. Additionally, the profile describes closed-loop controllers that collect sensor signals and provide set values for the actuators. Devices compliant to CiA 404 may support up to 199 transducer channels. The analog input function distinguishes between field value and process value.
The closed-loop controller function provides the PID algorithm with two set points, a manual override, and a self-optimization. The device is configurable as 2-point or 3-point controller.
The profile defines also an alarm function that generates PDOs according to pre-configured conditions such as sensor fault, signal value exceeding, difference between signals exceeding, etc.

Note: The CiA 404 profile does not support logical devices, because it already uses the entire index range for standardized profiles.