S
SionVerhoef/cia402-motion
Agent skill for the CiA 402 drive profile: controlword/statusword state machine, modes of operation, CoE…
View on GitHub ↗Link checked 2026-11-12 · HTTP 200 · opens the vendor's own site
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- 0 ★ · SionVerhoef/cia402-motion · read from the GitHub search API · (checked 2026-11-13 20:00:50)
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- read directly from its GitHub page · type: open-source project
- Harvest history
- first seen 2026-10-26 · last seen 2026-11-14 · seen 23× · listed by 6 sources
- Score
- score 603 · 6 sources · repo
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SionVerhoef/cia402-motion；first catalogued 2026-10-26；last seen 2026-11-14。There is no official certification or quality rating here — we record sources and dates only.# cia402-motion
以下摘录自该仓库的 README（片段） · 在 GitHub 读完整 README →
An agent skill for the CiA 402 (DS402) drive profile on any vendor's drive, over EtherCAT or
CANopen: the state machine, modes of operation and object dictionary, and finding out why a
drive won't reach Operation Enabled.
> Not affiliated with or endorsed by CAN in Automation e.V., the EtherCAT Technology Group,
> Beckhoff Automation GmbH & Co. KG or PLCopen, nor by any drive manufacturer named here.
> Product and standard names are used only to describe what this skill works with.
> Safety. This skill produces engineering suggestions, not validated machine software.
> Motion can crush, cut and kill. Never use its output for safety functions (STO, SS1, SLS,
> safe homing, guard monitoring) — those belong in a certified safety controller configured
> and validated per ISO 13849 / IEC 62061. Review every line, test with reduced torque and
> speed limits, and verify on the real machine before anyone stands near it. Responsibility
> for the machine stays with whoever commissions it.
Status: early development. Not ready to install yet. The decoder and planner below are
tested against an independent model of the state machine and against python-canopen; none of
it has been run against a real drive.
## The tool
scripts/cia402.py needs nothing but Python 3.8 or newer (py -3 on Windows):
bash
python3 scripts/cia402.py decode sw 0x0068 # non-standard: treated as Fault, and why
python3 scripts/cia402.py decode sw 0x1637 --mode hm
python3 scripts/cia402.py decode cw 0x001F --mode pp
python3 scripts/cia402.py plan fault --mode csp # controlword sequence, with the CSP set-up
decode reads a statusword (0x6041), controlword (0x6040), supported-modes bitmap
(0x6502), mode of operation (0x6060/0x6061) or homing method (0x6098). Each state is matched
with its own mask; a statusword that matches none is read fault-first and flagged instead of
being called "unknown". With --mode, bits 10, 12 and 13 (and controlword 4–6, 9) get their
meaning in that mode, and in homing mode the homing phase.
plan gives the controlwords from one state to another with their transition numbers:
fault reset as a real rising edge on bit 7, released afterwards; the set-point made safe
(target = actual in CSP) before the mode switch, which is confirmed on 0x6061; a quick stop
CANopen: the state machine, modes of operation and object dictionary, and finding out why a
drive won't reach Operation Enabled.
> Not affiliated with or endorsed by CAN in Automation e.V., the EtherCAT Technology Group,
> Beckhoff Automation GmbH & Co. KG or PLCopen, nor by any drive manufacturer named here.
> Product and standard names are used only to describe what this skill works with.
> Safety. This skill produces engineering suggestions, not validated machine software.
> Motion can crush, cut and kill. Never use its output for safety functions (STO, SS1, SLS,
> safe homing, guard monitoring) — those belong in a certified safety controller configured
> and validated per ISO 13849 / IEC 62061. Review every line, test with reduced torque and
> speed limits, and verify on the real machine before anyone stands near it. Responsibility
> for the machine stays with whoever commissions it.
Status: early development. Not ready to install yet. The decoder and planner below are
tested against an independent model of the state machine and against python-canopen; none of
it has been run against a real drive.
## The tool
scripts/cia402.py needs nothing but Python 3.8 or newer (py -3 on Windows):
bash
python3 scripts/cia402.py decode sw 0x0068 # non-standard: treated as Fault, and why
python3 scripts/cia402.py decode sw 0x1637 --mode hm
python3 scripts/cia402.py decode cw 0x001F --mode pp
python3 scripts/cia402.py plan fault --mode csp # controlword sequence, with the CSP set-up
decode reads a statusword (0x6041), controlword (0x6040), supported-modes bitmap
(0x6502), mode of operation (0x6060/0x6061) or homing method (0x6098). Each state is matched
with its own mask; a statusword that matches none is read fault-first and flagged instead of
being called "unknown". With --mode, bits 10, 12 and 13 (and controlword 4–6, 9) get their
meaning in that mode, and in homing mode the homing phase.
plan gives the controlwords from one state to another with their transition numbers:
fault reset as a real rising edge on bit 7, released afterwards; the set-point made safe
(target = actual in CSP) before the mode switch, which is confirmed on 0x6061; a quick stop
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- github · https://github.com/SionVerhoef/cia402-motion
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