Master & Slave Source Code for drives and motion control
The CiA 402 Add-on module implements the CANopen device profile for drives and motion control according to CiA 402, as it is used for digital controlled motion products like servo controllers, frequency converters and servo motors.
A comprehensive set of API functions allows control of the device state and operation mode. The implementation can handle up to 8 axes and supports the Homing Mode, Profile Position Mode, Profile Velocity Mode, Velocity Mode and Profile Torque Mode.