CiA® 402 series: CANopen device profile for drives and motion control

This set of profile specifications standardizes the functional behavior of controllers for servo drives, frequency inverters, and stepper motors. It also introduces several operation modes and corresponding configuration parameters. The profile description includes a finite state automaton (FSA) that defines internal and external device behavior for each state. The state of the drive determines which commands are accepted and whether high power is applied. States are changed when a control-word from the host-controller is received. They can also be changed due to internal events. The current state is indicated by the status-word. The control-word and different command values (e.g. velocity) are mapped into default RPDOs (receive process data objects). The status-word and different actual values (e.g. position) are mapped into TPDOs (transmit process data objects).

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