The nonprofit CiA (CAN in Automation) international association has released the CiA 406-J and CiA 410-J specifications, which describe the adaptation of the CANopen encoder and inclinometer profiles for J1939-based networks. Many suppliers provide encoders and inclinometers with CANopen connectivity. To make these products also available for J1939 users, CiA has requested appropriate PGNs (parameter group numbers) from SAE International to map the CANopen PDOs to J1939 PGs. In order to configure such sensors, CiA has released the CiA 510 document, which specifies a mapping of CANopen SDO messages to two PGNs. Additionally a mapping of CANopen EMCY messages to
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