diff --git a/ethercat_generic_plugins/ethercat_generic_cia402_drive/include/ethercat_generic_plugins/cia402_common_defs.hpp b/ethercat_generic_plugins/ethercat_generic_cia402_drive/include/ethercat_generic_plugins/cia402_common_defs.hpp
index c4ba4aad..7d89bd09 100644
--- a/ethercat_generic_plugins/ethercat_generic_cia402_drive/include/ethercat_generic_plugins/cia402_common_defs.hpp
+++ b/ethercat_generic_plugins/ethercat_generic_cia402_drive/include/ethercat_generic_plugins/cia402_common_defs.hpp
@@ -39,7 +39,9 @@ enum DeviceState
   STATE_OPERATION_ENABLED,
   STATE_QUICK_STOP_ACTIVE,
   STATE_FAULT_REACTION_ACTIVE,
-  STATE_FAULT
+  STATE_FAULT,
+  STATE_NEW_TARGET,
+  STATE_NEW_TARGET_RESET
 };
 
 enum ModeOfOperation
@@ -65,7 +67,9 @@ const std::map<DeviceState, std::string> DEVICE_STATE_STR = {
   {STATE_QUICK_STOP_ACTIVE, "Quick Stop Active"},
   {STATE_FAULT_REACTION_ACTIVE, "Fault Reaction Active"},
   {STATE_FAULT, "Fault"},
-  {STATE_UNDEFINED, "Undefined State"}
+  {STATE_UNDEFINED, "Undefined State"},
+  {STATE_NEW_TARGET, "STATE_NEW_TARGET"},
+  {STATE_NEW_TARGET_RESET, "STATE_NEW_TARGET_RESET"}
 };
 
 #endif  // ETHERCAT_GENERIC_PLUGINS__CIA402_COMMON_DEFS_HPP_
diff --git a/ethercat_generic_plugins/ethercat_generic_cia402_drive/include/ethercat_generic_plugins/generic_ec_cia402_drive.hpp b/ethercat_generic_plugins/ethercat_generic_cia402_drive/include/ethercat_generic_plugins/generic_ec_cia402_drive.hpp
index 07ec2a04..7703dd0c 100644
--- a/ethercat_generic_plugins/ethercat_generic_cia402_drive/include/ethercat_generic_plugins/generic_ec_cia402_drive.hpp
+++ b/ethercat_generic_plugins/ethercat_generic_cia402_drive/include/ethercat_generic_plugins/generic_ec_cia402_drive.hpp
@@ -62,7 +62,9 @@ class EcCiA402Drive : public GenericEcSlave
   bool auto_state_transitions_ = true;
   bool fault_reset_ = false;
   int fault_reset_command_interface_index_ = -1;
+  int position_command_interface_index_ = -1;
   bool last_fault_reset_command_ = false;
+  double previous_target_ = -1;
   double last_position_ = std::numeric_limits<double>::quiet_NaN();
 
   /** returns device state based upon the status_word */
diff --git a/ethercat_generic_plugins/ethercat_generic_cia402_drive/src/generic_ec_cia402_drive.cpp b/ethercat_generic_plugins/ethercat_generic_cia402_drive/src/generic_ec_cia402_drive.cpp
index f06426db..39ba4629 100644
--- a/ethercat_generic_plugins/ethercat_generic_cia402_drive/src/generic_ec_cia402_drive.cpp
+++ b/ethercat_generic_plugins/ethercat_generic_cia402_drive/src/generic_ec_cia402_drive.cpp
@@ -48,7 +48,27 @@ void EcCiA402Drive::processData(size_t index, uint8_t * domain_address)
       if (auto_state_transitions_) {
         pdo_channels_info_[index].default_value = transition(
           state_,
-          pdo_channels_info_[index].ec_read(domain_address));
+          pdo_channels_info_[index].ec_read(domain_address)
+        );
+        if(mode_of_operation_ == ModeOfOperation::MODE_PROFILED_POSITION) {
+          // Send New Target triggers if target position changes
+          if(state_ == STATE_OPERATION_ENABLED && position_command_interface_index_ >= 0) {
+            uint16_t control_word = pdo_channels_info_[index].default_value;
+            double target_position = command_interface_ptr_->at(position_command_interface_index_);
+            if(!std::isnan(target_position) && target_position == previous_target_ && (control_word & 0b00010000) == 0b00000000) {
+              pdo_channels_info_[index].default_value = transition(
+                STATE_NEW_TARGET,
+                pdo_channels_info_[index].ec_read(domain_address)
+              );
+            } else if((!std::isnan(target_position) || !std::isnan(previous_target_)) && previous_target_ != target_position) {
+              previous_target_ = target_position;
+              pdo_channels_info_[index].default_value = transition(
+                STATE_NEW_TARGET_RESET,
+                pdo_channels_info_[index].ec_read(domain_address)
+              );
+            }
+          }
+        }
       }
     }
   }
@@ -61,7 +81,7 @@ void EcCiA402Drive::processData(size_t index, uint8_t * domain_address)
         pdo_channels_info_[index].offset;
     }
     pdo_channels_info_[index].override_command =
-      (mode_of_operation_display_ != ModeOfOperation::MODE_CYCLIC_SYNC_POSITION) ? true : false;
+      (mode_of_operation_display_ != ModeOfOperation::MODE_CYCLIC_SYNC_POSITION && mode_of_operation_display_ != ModeOfOperation::MODE_PROFILED_POSITION) ? true : false;
   }
 
   // setup mode of operation
@@ -135,6 +155,10 @@ bool EcCiA402Drive::setupSlave(
     fault_reset_command_interface_index_ = std::stoi(paramters_["command_interface/reset_fault"]);
   }
 
+  if (paramters_.find("command_interface/position") != paramters_.end()) {
+    position_command_interface_index_ = std::stoi(paramters_["command_interface/position"]);
+  }
+
   return true;
 }
 
@@ -206,6 +230,10 @@ uint16_t EcCiA402Drive::transition(DeviceState state, uint16_t control_word)
       return (control_word & 0b01110111) | 0b00000111;
     case STATE_SWITCH_ON:                 // -> STATE_OPERATION_ENABLED
       return (control_word & 0b01111111) | 0b00001111;
+    case STATE_NEW_TARGET:
+      return control_word | 0b00010000;
+    case STATE_NEW_TARGET_RESET:
+      return control_word & 0b11101111;
     case STATE_OPERATION_ENABLED:         // -> GOOD
       return control_word;
     case STATE_QUICK_STOP_ACTIVE:         // -> STATE_OPERATION_ENABLED