CiA® 452: CANopen device profile PLCopen motion control

This profile specifies the CANopen interface for drives controlled by programmable logic controllers (PLC) using PLCopen motion control. The main intention of this specification is to control the drive by means of one RPDO and one TPDO. The motion function block may be performed by the PLC or by the drive. This profile also specifies the CANopen interface for master-slave drive control according to PLCopen. This specification introduces a power drive system finite state automaton drived from but simplified than that one, given in IEC 61800-7-1/-201/-301. The FSA profile specifies the application behavior of the power drive system as it is seen from the control device.