This plug-in extends the CDM with dialogs to control the state machine of a CANopen drive and features for testing the profile position mode. The status and control words are displayed bit by bit for detailed analysis. There is a separate tab-sheet providing access to the state machine of a CANopen drive according to CiA 402. State changes can be triggered by mouse clicks instead of doing bit-wise modifications on object 0x6040 in the Object Dictionary. The status word can be polled cyclically by SDO or is updated upon reception of the respective PDO. The Profile Position Mode module (part of the CiA 402 plug-in) allows for the configuration of parameters like acceleration, velocity, deceleration as well as target position. The motion status of the drive is displayed graphically and push-buttos for "Stop" or "Halt" are there to test the implementation.