CiA 402: CANopen device profile for drives and motion control

The device profile for drives and motion control defines the functional behavior of controllers for servo drives, frequency inverters, and stepper motors. It also specifies several operation modes and corresponding configuration parameters.  The specification includes a finite state automaton (FSA) that specifies 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 by a  control-word received from the host-controller and can 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). The specification provides a set of generic default PDOs available to all drives as well as set of specific default PDOs applicable only to a specific class of drives such as servo drives, frequency inverters or stepper motors.
The multitude of optional functions and parameters limits the exchangeability of devices compliant to CiA 402.

The CiA 402 device profile is internationally standardized in IEC 61800-7-201 and IEC 61800-7-301, both of which are available from the IEC.