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.