Manual

1. INTRODUCTION

This documentation will describe the implementation of CiA DS402 standard on Roboteq

motor controllers.

1.1 WHAT IS DS402

DS402 is an open standard, that is designed specifically for motion control. There are a

number of CANOpen SDOs with which one can control the motor by commanding the motor

controller.

The standard describes all the required SDOs, as long as the actions the motor controller

should take upon receiving these SDOs. Additionally the standard describes a Finite State

Machine (FSA) which should run on motor controller.