Glossary · Motion control and drives
CiA 402 drive profile
Also known as: CiA 402, CANopen device profile for drives and motion control, CiA 402 profile
German: CiA-402-Antriebsprofil
In motion control, the CiA 402 drive profile is the CANopen device profile for drives and motion control, published by CAN in Automation and as IEC 61800-7-201, which defines a common state machine, modes of operation and object dictionary entries for servo drives, stepper drives and frequency converters; it is also used over EtherCAT as CANopen over EtherCAT (CoE).
- Motion control
- Standards
In one sentence
CiA 402 is the CANopen device profile for drives: a common state machine, modes of operation and objects, also used over EtherCAT (CoE).
Example
A PLC controls stepper and servo drives from different vendors over EtherCAT with the same CiA 402 controlword, statusword and profile position mode.
How it applies
- Engineering: The drive state machine has the states Not ready to switch on, Switch on disabled, Ready to switch on, Switched on, Operation enabled, Quick stop active, Fault reaction active and Fault; the controller moves between them with the controlword and reads the state from the statusword. Modes of operation include profile position, profile velocity, profile torque, homing and the cyclic synchronous position, velocity and torque modes.
- Commissioning: Drives implement only a subset of modes and objects. Check the supported modes, homing methods and scaling in the drive's documentation and its device description file.
- Operation: Faults move the drive to Fault; the controller must acknowledge them with a fault reset. Quick stop is a defined ramp-down in the profile, not a safety function.
- Documentation: Use the profile's state and mode names exactly, and document which modes, homing methods and objects the product supports. Explain that "Switch on disabled" or "Quick stop active" are control states; a torque-free state for safety purposes needs a safety function such as Safe Torque Off (STO).
CiA 402 vs. PROFIdrive
Both define drive state machines and application profiles. CiA 402 comes from CANopen and is common on CANopen and EtherCAT; PROFIdrive is the drive profile for PROFIBUS and PROFINET. The concepts are similar, but names, states and objects differ, so a manual must not mix their terms.