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).

This profile has been partly internationally standardized in the IEC 61800-7 series. The original CiA 402 part 2 is now IEC 61800-7-201. It describes all functional behavior including the FSA and all process data and configuration parameters. CiA 402 part 3 contains mainly the PDO definitions, nowadays published in IEC 61800-7-301. The IEC standards are under systematic review and update. This second edition is already available as Draft International Standard.

The IEC standard of CiA 402 specifies a set of generic default PDOs available to all drives as well as a set of specific default PDOs applicable only to a specific class of drives such as servo drives, frequency inverters or stepper motors. CiA has developed a third set of standardized PDOs optimized for easy system integration (CiA 402 part 5). CiA 402 part 4 specifies the safety parameters and dedicated SRDO (safety-related data objects) parameters as defined in EN 50325-5 (CANopen Safety). This approach is based on the Generic Safety Drive Profile from Ethercat Technology Group (ETG). The CiA 319 framework provides guidelines to simplify the implementation and configuration of devices using CANopen Safety communication services.

In October 2016, CiA has released the CiA 402-6 specifying the default 64-byte PDO usage for CANopen FD networks. The PDO sets are defined for servo drives and stepper motors (use the same set), for frequency converters as well as for multiple-axes systems.

On the one hand, CiA 402 is one of the best-specified motion control profiles. On the other hand, the multitude of optional functions and parameters limits the exchangeability of devices compliant to CiA 402. Some vendors implement only a subset of the mandatory functions and parameters, but still claim CiA 402 conformity.

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CiA 301 version 4.2.0CANopen application layer and communication profile
DescriptionThis specification specifies the CANopen application layer. This includes the data types, encoding rules and object dictionary objects as well as the CANopen communication services and protocols. In addition, this specification specifies the CANopen network management services and protocols. This specification specifies the CANopen communication profile, e.g. the physical layer, the predefined communication object identifier connection set, and the content of the Emergency, Timestamp, and Sync communication objects.
public3.4 MiB2011-02-21Login
CiA 303-2 version 1.5.0Recommendation - Part 2: Representation of SI units and prefixes
DescriptionThis document provides recommendation on how to represent the international system of units and prefixes in CANopen device, interface and application profiles.
public120 KiB2012-04-27Login
CiA 319 version 1.0.0CANopen implementation and configuration guideline for safety-related devices
DescriptionThis framework provides implementation and configuration guidelines for devices implementing communication services as specified in EN 50325-5 (CANopen Safety). It contains a framework about the procedure to configure safety-related parameters and to proof the authentication of the device to be configured. Additionally, it contains a framework for implementing the configuration signature and valid parameters in CANopen device and application profiles.
DSP229 KiB2014-09-02Login
CiA 402-6 version 1.0.0CANopen device profile for drives and motion control – Part 6: CANopen FD PDO mapping
DescriptionThis series of profile specifies the CANopen interface of power drive systems. It is suitable for drive and motion controllers. It specifies several operating modes for frequency inverters, servocontrollers, and stepper motors. The series of profile is split in several parts: Part 1: General definitions, Part 2: Operation modes and application data, Part 3: PDO mapping, Part 4: Safety functionality, Part 5: PDO mapping superset, Part 6: CANopen FD PDO mapping. This part specifies the CANopen FD mapping for frequency converters, servo drives and stepper motors as well as for multiple-axes systems.
DSP554 KiB2016-10-10Login
CiA 402-1 version 4.0.0CANopen device profile for drives and motion control – Part 1: General definitions
DescriptionThis series of profile specifies the CANopen interface of power drive systems. It is suitable for drive and motion controllers. It specifies several operating modes for frequency inverters, servocontrollers, and stepper motors. The series of profile is split in several parts: Part 1: General definitions, Part 2: Operation modes and application data, Part 3: PDO mapping, Part 4: Safety functionality, Part 5: PDO mapping superset. Part 1 specifies the mapping of the CiA 402 profile onto the generic power drive system (PDS) interface as defined in IEC 61800-7-1.
DSP184 KiB2016-03-01Login
CiA 402-2 version 4.0.0CANopen device profile for drives and motion control – Part 2: Operation modes and application data
DescriptionThis series of profile specifies the CANopen interface of power drive systems. It is suitable for drive and motion controllers. It specifies several operating modes for frequency inverters, servocontrollers, and stepper motors. The series of profile is split in several parts: Part 1: General definitions, Part 2: Operation modes and application data, Part 3: PDO mapping, Part 4: Safety functionality, Part 5: PDO mapping superset. Part 2 specifies the basic drive and additional application functional elements as defined in IEC 61800-7-201. This includes the specification of drive operation modes and application data for such power drive systems as frequency converters, servo controllers, or stepper motor controllers. It includes the definition of real-time control objects as well as of configuration, adjustment, identification and network management objects. There is also defined the PDS finite state automaton (FSA), which may be controlled externally by a control device communicating via a communication system to the drive device.
DSP3.5 MiB2016-03-01Login
CiA 402-3 version 4.0.0CANopen device profile for drives and motion control – Part 3: PDO mapping
DescriptionThis series of profile specifies the CANopen interface of power drive systems. It is suitable for drive and motion controllers. It specifies several operating modes for frequency inverters, servocontrollers, and stepper motors. The series of profile is split in several parts: Part 1: General definitions, Part 2: Operation modes and application data, Part 3: PDO mapping, Part 4: Safety functionality, Part 5: PDO mapping superset. Part 3 specifies the CANopen PDO mapping as defined in IEC 61800-7-301. In particular, the process data object (PDO) communication and mapping parameters are defined. In addition, this specificaton defines the PDO mapping attribute for all objects defined in the CiA 402 drive profile.
DSP592 KiB2016-03-01Login
CiA 402-4 version 1.0.0CANopen device profile for drives and motion control – Part 4: Safety functionality
DescriptionThis series of profile specifies the CANopen interface of power drive systems. It is suitable for drive and motion controllers. It specifies several operating modes for frequency inverters, servocontrollers, and stepper motors. The series of profile is split in several parts: Part 1: General definitions, Part 2: Operation modes and application data, Part 3: PDO mapping, Part 4: Safety functionality, Part 5: PDO mapping superset. Part 2 and part 3 are substituted by the international standards IEC 61800-7-201 respectively IEC 61800-7-301. This part specifies the safety functionality for electrical drives and motion controllers compliant with the CiA 402 profile. It specifies the safety-related process data, the safety-related configuration parameters, and the safety-related diagnostic information as well as the SRDO communication and mapping parameters. Safety devices compliant with this part consume SRDOs containing commands from a control device and produce SRDOs containing status information to be received by the control device. Safety devices compliant with this document provide typically local safety functions as well as safety inputs and outputs. The safety outputs can be used to assign safety status information or can be set by the command information of the safety logic. The document is based on the ETG.6100.2 Generic Safety Drive Profile by the Ethercat Technology Group (ETG), and it specifies the mapping to CANopen. NOTE: The naming and the assigned indices and sub-indices of the parameters are far as possible the same as in the ETG documents. But some ETG parameters are represented in CANopen by two parameters, consequently two names are used.
DSP2.4 MiB2015-12-02Login
CiA 402-5 version 1.0.0CANopen device profile for drives and motion control – Part 5: PDO mapping superset
DescriptionThis series of profile specifies the CANopen interface of power drive systems. It is suitable for drive and motion controllers. It specifies several operating modes for frequency inverters, servocontrollers, and stepper motors. The series of profile is split in several parts: Part 1: General definitions, (Part 2: Operation modes and application data), (Part 3: PDO mapping), Part 4: Safety functionality, Part 5: PDO mapping superset. Part 2 and part 3 are substituted by the international standards IEC 61800-7-201 respectively IEC 61800-7-301. This part specifies the set of PDOs for CiA 402 compliant CANopen devices, which can control asynchronous and synchronous motors.
DSP174 KiB2014-01-31Login