CiA402是基于CANOPEN的电机控制驱动代码和通信层的接口:

1. 状态机转换
2. CiA402 objects
3. 支持csp、csv，csp(cyclic synchronous position)、csv(cyclic synchronous velocity)操作模式。
   CiA402 specific files:
   cia402appl.c: CiA402 driver implemention
   cia402appl.h: Driver profile specific objects, definitions and axes structres

All motion controller related values are encapsulated in structure TCiA402Axis(file cia402appl.h).
The configuration parameters and error codes are directly mapping functions(file: ecatappl.c).
Currently the sample support maximum of two axes. The axes are initialized in the EtherCAT state change from PREOP to SAFEOP.
objects: refer EL9300 and ETG.6010
State machine:

Operation modes:
csv : 周期性同步速度模式
csv:运行原理图：