CiA^® 417: CANopen application profile for lift control systems

The CiA 417 application profile describes virtual devices for lift control applications.  The following virtual devices are specified: Drive controller, call controller, display controller, car door controller, car drive unit, car position unit, car door unit, light barrier, car panel, car display, sensor unit, load measuring unit, panel input unit, and panel output unit. A device may implement up to eight instances of application profiles, so that it can be used in up to eight different lift control applications.
The profile specifies pre-defined PDOs that support broadcast and peer-to-peer communication for virtual devices. The virtual device concept allows the design of PDO-transparent bridges.
The virtual device definitions for the car drive unit (motion controller) and car position unit (encoder) follow the generic CANopen device profiles for motion controllers and encoders. However, in lift control applications they use different object dictionary entries. The CiA 417 specification consist of several parts:

• Part 1 describes general definitions (including additional error codes)
• Part 2 specifies the virtual devices
• Part 3 specifies the PDOs
• Part 4 specifies the application objects (process data and configuration parameters