CiA® 452: CANopen device profile PLCopen motion control

This profile specifies the CANopen interface for drives controlled by programmable logic controllers (PLC) using PLCopen motion control. The main intention of this specification is to control the drive using one RPDO and one TPDO. The motion function block can be operated by the PLC or by the drive. This profile also specifies the CANopen interface for main-subordinate drive control according to PLCopen. This specification introduces a power drive system finite-state automaton different than that in IEC 61800-7-1/-201/-301. The CiA 452 power drive system finite-state automaton, reflects the application behavior of the power drive as seen from the control device. Due to the requirement that a power drive system provides local control even when the communication network is not working properly, the CANopen communication finite-state automaton specified in CiA 301 and the CiA 452 power drive system finite-state automaton are loosely coupled.