Update content - 2026-10-07

content/zettels/cia402.md

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+title = "CiA402"
+author = ["Dehaeze Thomas"]
+draft = false
+category = "Electronics"
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+
+Tags
+:
+
+CiA 402 (IEC 61800-7-201) is the CAN in Automation standard drive profile for servo drives, stepper drives and frequency inverters.
+It defines a common object dictionary and state machine, so that drives from different vendors behave the same way.
+It was defined for CANopen and is also used over EtherCAT (CoE, CANopen over EtherCAT).
+
+
+## Main elements {#main-elements}
+
+-   **Control word** (0x6040) and **status word** (0x6041): commands sent to the drive (enable, fault reset, ...) and its feedback.
+-   **State machine**: the drive has to be walked through fixed states before it moves: Switch on disabled, Ready to switch on, Switched on, Operation enabled, Fault.
+-   **Modes of operation** (0x6060 requested, 0x6061 actual):
+    -   Cyclic Synchronous Position (CSP): a target position is sent every cycle (e.g. 1 ms). Used for real-time control from a master.
+    -   Cyclic Synchronous Velocity (CSV) and Torque (CST): same with velocity or torque setpoints.
+    -   Profile Position (PP) and Profile Velocity (PV): the drive generates its own trajectory to a target.
+    -   Homing: the drive runs its own homing procedure.
+-   **Standard objects**: target position (0x607A), actual position (0x6064), velocity and acceleration limits, position factor / scaling.
+
+
+## Use with a real-time target (e.g. Speedgoat) {#use-with-a-real-time-target--e-dot-g-dot-speedgoat}
+
+-   The master needs the ESI file and a PDO mapping with at least control word, target position, status word and actual position.
+-   A small state machine (e.g. Stateflow) brings the drive to _Operation enabled_ before setpoints are sent.
+-   In CSP, the drive internal loop still does the actual control, the master only provides setpoints.
+-   A generic CiA 402 block can be reused across compatible drives.
+    The ESI file, PDO mapping, units, optional objects and vendor quirks are still drive specific.
+
+
+## Bibliography {#bibliography}
+
+<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
+</div>