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Elmo DSP 305 manual

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Table of contents for the manual

  • Page 1

    Elmo Motion Control CANopen DSP 305 Implementation Guide Version 1.1- April 2006[...]

  • Page 2

    Important Notice This guide is delive red subject to the following condi tions and restri ctions:  This guide con tains prop rietary inf ormation be longing to Elm o Motion C ontrol Ltd. Such informati on is supp lied solely f or the purp ose of assis ting users of SimplIQ servo drives in implementing CANopen n etworking.  The text and graphi[...]

  • Page 3

    Contents 1 Introduction ................................................................................................................ 1-1 1.1 Obje ctives of LSS ......................................................................................................... 1-1 1.2 Abbrevi ations an d Terms ..............................................[...]

  • Page 4

    1 Introduction This docume nt describes the objects and oper ational modes of the Elm o DSP-based motion control ler implement ation of t he CiA DSP 305 protocol. The Elmo Harmon ica digital servo drive (part of the SimplIQ family of digital servo dr ives ) is used whenev er examples ar e shown in this docum ent. Notes:  The DSP in CiA DSP 305 s[...]

  • Page 5

    LMT (Layer Man agement): Functions to inquire and ch ange the settings o f certain parame ters of the local la yers on a CAL module. LSS (Layer Setting Se rvices): Func tions to inquire and change the settings of certain parame ters of the local la ye rs on a CANopen network. An LSS Master can change the foll owing param eters of LSS Slaves :  N[...]

  • Page 6

    1.5 Elmo Documentation This manual – included in the Elmo CANopen Im plementation Guide – is part of the Elmo SimplIQ digital servo drive do cumentatio n set, as outlined in the followin g diagram: In addition to this document, the SimplIQ documentation set includes:  The Harmonica, Bassoon, Cello and Cornet Installation Guides, which provid[...]

  • Page 7

    2 LSS Modes Devices t hat comm unicate with t he LSS protoco l can be in on e of two m odes, ‘ Configura tion Mode ’ and ‘ Opera tion Mode ’. Any device on the ne twork that is not in ‘Config u ration Mo de’ is in ‘O peration Mode’. I n ‘Configuration Mode ’ all LSS services are avail able. In ‘Oper ation Mode’ only the swit[...]

  • Page 8

    3 LSS Services LSS services can be functionally gr ouped into four categ ories:  Switch Mode Services provide a wa y to logically connect the LSS Mast er and LSS Slave(s) for configuration pu rpos es. They change the LSS mode attribute of the L SS Slave (see the Figure 3-1 ).  Configuration Services perform the act u al task of configuring th[...]

  • Page 9

    The protocols described below all h ave the same structure: a sp ecific sequence of COBs are exch anged between the LSS Master an d LSS Slave for a particular LSS service. Requesti ng Messages use COB-ID 7E5h while Response Messag es use COB-ID 7E4h. LSS uses Command Specifiers (CS) to identify the commands . CSs from 00 - 03fh are reserve d for us[...]

  • Page 10

    3.2.2 Switch Mode Selective This service is used to switch a specific LSS Slav e device to configuration mode. l sb Vendor-I D m sb 64 re s e rv e d fo r fu tu re u se b y C iA 012345678 CO B-I D = 7E5h CS Figure 3-4 Switch Slaves, from Specific Vendor, to Configuration Mode lsb P ro d u c t-C o d e m s b 65 re s e rv e d fo r fu tu re u se b y C i[...]

  • Page 11

    3.3 Configuration Services Configuration serv ices are avail able only in configuration mode. So me of the servic es are only avai lable to one LSS Slave device . 3.3.1 Configuration Node-ID This service enab les the LSS Master to configure t he NMT-address of an LSS Slave. Only one LS S Slave at a time can be config ured with this service. A remot[...]

  • Page 12

    3.3.2 Configuration Bit Timing Parameters The LSS Master’s Configur e Bit Timing Parameters service sets new bit ti ming on an LSS Slave . The bit timin g parameter s for different ba ud rates are sp ecified in th e Bit Timing Parameter Table below. With table_ se lector value ´0´ the stan dard CiA bi t timing paramete r table is used. The ta b[...]

  • Page 13

    3: out of range 3.3.3 Activate Bit Timing Parameters The LSS Maste r's Activa te Bit Timin g Parameters se rvice activat es the bit timi ng as defined by the Configure Bit Timin g Parameters se rvice. The switch_del ay parameter spe cifies the le ng th of two delay periods of equal length, which are neces sary to avoid op erating the bus with [...]

  • Page 14

    d1 d2 d1 d2 d1 d2 p2 p2 LMT Master LMT Slave 1 LMT Slave 2 c c: initiation of command p1, p2: individual processing delay d1: duration of first switch_delay period d2: duration of second switch_delay period ******** : node may be transmitting ******** ******** t t t Figure 3-13 Switch_Delay Periods 3.3.4 Store Configuration Parameters The Store Con[...]

  • Page 15

    If erro r_code is 2 55, then a specific_error_code will be: 2: incorrect mode no other options at this time 3.4 Inquiry Services The inquiry services are availabl e only in configuration mode. 3.4.1 Inquire LSS Address This service fi nds the LSS- address of a Slave in con figuration mo de. Since th e LSS address has four parts (Vendor-ID, Prod uc [...]

  • Page 16

    Inquire Revision-Number Protocol 92 re se rve d fo r fu ture u s e by C iA 12345678 CO B-ID = 7E5h CS Figure 3-20 Inquire Revision-Number 92 Revisi on-Num ber re s e rv e d fo r fu tu r e u s e b y C iA 012345678 CO B-I D = 7E4h CS lsb msb Figure 3-21 Confirm Revision-Number Inquire Serial-Number Protocol 93 re se rve d fo r fu ture u s e by C iA 1[...]

  • Page 17

    94 ## res e rve d for futu re u se by C iA 012345678 CO B-I D = 7E4h CS NI D Figure 3-25 Confirm Node-ID If the Node-ID was recently changed wi th a Configure Node-ID command, the original Node-ID will continue to be ret u rned unt il the next power on res et. A value of FFh is return ed if the Node-ID is not configur ed … this is onl y possible [...]

  • Page 18

    Revision-Number-Low: The lower boundary of the requested re vision nu mbers range . The Minor range must be set to 0000h. l sb Revisi on-Num ber- High msb 73 r e s er ve d fo r fu tu re u s e b y C iA 012345678 CO B-I D = 7E5h CS Figure 3-29 Slave Revision Number Inquiry Revision-Number-High: The higher boundary of the requested re vis ion numbers [...]

  • Page 19

    79 res e rve d for futu re us e by C iA 12345678 COB- ID = 7E4h CS 0 Figure 3-32 Slave Serial-Number Confirmation 3.5.3 Example If the Master knows tha t there are several node s of the same LSS type that only differ in their seri al number, it can ask th e following questions to locate them: Are there any devices with serial numbe rs between 1276h[...]

  • Page 20

    4 Implementation Rules When implementin g the LSS protocols, the f ollowing rules must be followe d to guarantee i nteroperability: CAL Layer Managemen t (LMT) To distinguish between LMT and LSS, all LSS services must us e command specifiers in the 040h – 07fh range. Invalid COB's A COB is invalid if it has a COB-ID that is used by the LSS P[...]