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It also introduces several operation modes and corresponding configuration parameters. The profile description includes a finite state automaton FSA that defines internal and external device behavior for each state. The state of the drive determines which commands are accepted and whether high power is applied. States are changed when a control-word from the host-controller is received.
They can also be changed due to internal events. The current state is indicated by the status-word. The control-word and different command values e. The status-word and different actual values e. This profile has been partly internationally standardized in the IEC series. It describes all functional behavior including the FSA and all process data and configuration parameters.
The IEC standards are under systematic review and update. This second edition is already available as Draft International Standard. The IEC standard of CiA specifies a set of generic default PDOs available to all drives as well as a set of specific default PDOs applicable only to a specific class of drives such as servo drives, frequency inverters or stepper motors.
The CiA framework provides guidelines to simplify the implementation and configuration of devices using CANopen Safety communication services. The PDO sets are defined for servo drives and stepper motors use the same set , for frequency converters as well as for multiple-axes systems.
On the one hand, CiA is one of the best-specified motion control profiles. On the other hand, the multitude of optional functions and parameters limits the exchangeability of devices compliant to CiA Some vendors implement only a subset of the mandatory functions and parameters, but still claim CiA conformity.
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