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