CiA 402: CANopen device profile for drives and motion control
The device profile for drives and motion control (CiA 402) defines the functional behavior of controllers for servo drives, frequency inverters and stepper motors. The specification includes a state machine description of the drive. A single state represents a special internal or external behavior.
The specification was extended in 2005 by specific PDO mapping for frequency inverters, servo controllers and stepper motors. Also synchronous modes were defined.
The profile supports motion controllers that feature a trajection generator. It also defines cyclic-synchronous modes for position, speed and torque.