CANopen / CiA 402 Drive Profile

CANopen / CiA 402 驱动协议Advanced

A CAN-based industrial protocol, and the device profile within it that standardizes servo-drive behavior.

CANopen is a higher-layer protocol defined by CiA (the CAN in Automation association), which builds on the CAN bus to define an object dictionary (a numbered table of a device's parameters), two message types (PDO and SDO), and network management. CiA 402 is the “drives and motion control” device profile within it, standardizing a servo drive's state machine (power-on, enabled, fault, and so on), its control word and status word, and its operating modes for position, velocity, torque, and homing, including cyclic synchronous position/velocity/torque (CSP/CSV/CST). A drive that follows the profile can be controlled by the same master-side code as any other compliant drive. EtherCAT reuses this same profile (called CoE), so it shows up in robot joint drives whether they communicate over CAN or EtherCAT.

ExampleWriting control-word values 0x06, 0x07, then 0x0F to a drive in sequence takes it from ready, through power-on, to the “operation enabled” state.

Also called: CiA 402, DS402, CANopen Drive Profile
Related: Controller Area Network (CAN) · EtherCAT (Ethernet for Control Automation Technology) · SocketCAN · Cyclic Synchronous Position / Velocity / Torque Modes (CiA 402) · Servo Enable (Servo ON / OFF) · Servo Drive (Motor Driver)
Sources: CANopen - Wikipedia