cia402.h File Reference

CiA 402 / IEC 61800-7-201 drive + motion profile (DETWS_ENABLE_CIA402) over CANopen. More...

#include "ServerConfig.h"

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Detailed Description

CiA 402 / IEC 61800-7-201 drive + motion profile (DETWS_ENABLE_CIA402) over CANopen.

The standardised servo / stepper drive profile: the power state machine (Controlword 0x6040 / Statusword 0x6041), the Modes of Operation, and the target/actual position-velocity-torque objects. This is the pure profile layer - the state decode + controlword commands are just value logic, and the setters/getters wrap the shipped services/canopen SDO / PDO codec, so the CAN stack (ESP32 TWAI or an MCP2515) becomes a motion master. Close the loop with a services/control PID.

Statusword state masks, Controlword command values, and the object indices are verified against IEC 61800-7-201 (CiA 402) and multiple drive vendors' state-machine tables. Pure, host-tested.

Author

Douglas Quigg (dstroy0)

Date

2026

Definition in file cia402.h.