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. The specification includes a finite state automaton (FSA). The state of the drive determines, which commands are accepted and if high power is applied. States are changed by a control-word received from the host-controller can be initiated by internal events. The current state is indicated by the status-word.
The device profile specifies the folowing operation modes and corresponding configuration parameters:

  • Profile position mode
  • Interpolated position mode
  • Profile velocity mode
  • Profile torque mode
  • Velocity mode
  • Homing mode
  • Cyclic synchronous modes (position, velocity, and torque)


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