AM2434: CiA402 State Machine Modifications

Tool/software:

Hi,

My customer has some questions about CiA402 state machine in the example code below. Please help to answer their questions below.

https://software-dl.ti.com/processor-industrial-sw/esd/ind_comms_sdk/am243x/11_00_00_13/docs/am243x/ethercat_subdevice/example2.html

Is it possible to modify the transition conditions of the state machine?

For example, they would like to add a flag check related to safety confirmation of Servo when transitioning from "Switched on" to "Operation enabled".

If this is possible, could you please explain the implementation steps?

Is it possible to add a "Quick Stop" state to the state machine?

If it is possible, could you please tell them how to implement it ?

Thanks and regards,

Hideaki