Elmo DSP 305 User Manual

Elmo Motion Control

CANopen DSP 305

Implementation Guide

Version 1.1- April 2006

Important Notice

This guide is delivered subject to the following conditions and restrictions:

 This guide contains proprietary information belonging to Elmo Motion Control Ltd.

Such information is supplied solely for the purpose of assisting users of
servo drives in implementing CANopen networking.

 The text and graphics included in this manual are for the purpose of illustration and

reference only. The specifications on which they are based are subject to change
without notice.

 Information in this document is subject to change without notice. Corporate and

individual names and data used in examples herein are fictitious unless otherwise
noted.

SimplIQ

Doc. No. MAN-

CAN305IG

Copyright  2006

Elmo Motion Control Ltd.

All rights reserved.

Revision History

Ver. 1.1 Apr. 2006 COB-ID Changes (MAN-CAN305IG)

Ver. 1.0 Nov. 2004 Initial Release (MAN-CAN305IG)

Elmo Motion Control Ltd.

64 Gisin St., P.O. Box 463

Petach Tikva 49103

Tel: [phone]

Fax: [phone]

Elmo Motion Control Inc.

1 Park Drive, Suite 12

Westford, MA 01886

USA

Tel: [phone]

Fax: [phone]

Elmo Motion Control GmbH

Steinbeisstrasse 41

D-78056, Villingen-Schwenningen

Germany

Tel: [phone]

Fax: [phone]

www.elmomc.com

CANopen DSP 305 Implementation Guide

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Contents

1 Introduction ................................................................................................................ 1-1

1.1 Objectives of LSS ......................................................................................................... 1-1

1.2 Abbreviations and Terms........................................................................................... 1-1

1.3 LSS Hardware Restrictions (LSS Address) ............................................................... 1-2

1.4 LSS Operating Restrictions......................................................................................... 1-2

1.5 Elmo Documentation .................................................................................................. 1-3

2 LSS Modes................................................................................................................... 2-1

2.1 Configuration and the Operation Modes................................................................. 2-1

3 LSS Services ................................................................................................................ 3-1

3.1 LSS Master-Slave Synchronization & Protocol......................................................... 3-1

3.2 Switch Mode Services ................................................................................................. 3-2

3.2.1 Switch Mode Global.......................................................................................... 3-2

3.2.2 Switch Mode Selective...................................................................................... 3-3

3.3 Configuration Services................................................................................................ 3-4

3.3.1 Configuration Node-ID .................................................................................... 3-4

3.3.2 Configuration Bit Timing Parameters............................................................. 3-5

3.3.3 Activate Bit Timing Parameters....................................................................... 3-6

3.3.4 Store Configuration Parameters ...................................................................... 3-7

3.4 Inquiry Services........................................................................................................... 3-8

3.4.1 Inquire LSS Address ......................................................................................... 3-8

Inquire Vendor-ID Protocol............................................................................. 3-8

Inquire Product-Code Protocol........................................................................ 3-8

Inquire Revision-Number Protocol................................................................. 3-9

Inquire Serial-Number Protocol...................................................................... 3-9

3.4.2 Inquire Node-ID................................................................................................ 3-9

Inquire Node-ID Protocol ...............................................................................3-9

3.5 Identification Services............................................................................................... 3-10

3.5.1 LSS Identify Remote Slaves............................................................................ 3-10

Inquire Node-ID Protocol .............................................................................3-10

3.5.2 LSS Identify Slave Protocol............................................................................ 3-11

3.5.3 Example............................................................................................................ 3-12

4 Implementation Rules ............................................................................................... 4-1

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1 Introduction

This document describes the objects and operational modes of the Elmo DSP-based
motion controller implementation of the CiA DSP 305 protocol. The Elmo Harmonica
digital servo drive (part of the
examples are shown in this document.

Notes:

 The DSP in CiA DSP 305 stands for Draft Standard Proposal.

 The DSP in Elmo DSP-based motion controller stands for Digital Signal Processor.

With the DSP 305 Layer Setting Services and protocol, unconfigured devices in a
network can be identified by their unique manufacturer, product, serial and revision
number. After identification Bit Rate and Node ID can be configured for each device.

SimplIQ family of digital servo drives ) is used whenever

1.1 Objectives of LSS

CiA DSP 305 CANopen Layer Setting Service and Protocol (LSS) services and protocols
were created to enable the following parameters to be read and changed through the
network:

 The CANopen Node ID

 The CAN baud rate

 The LSS address

This increases the “plug–and-play” capabilities of devices on CANopen networks as pre­configuration of the network is less restrictive.

The LSS Master is responsible for configuring these parameters on one or more LSS
Slaves on a CANopen network.

1.2 Abbreviations and Terms

The following terms are used in this document:

COB (Communication Object): A unit of transportation in a CAN network.

Data must be send across a CAN network inside a COB. A COB can
contain at most 8 bytes of data.

COB-ID Each COB is uniquely indentified in a CAN network by a number called

the COB Identifier (COB-ID). The COB-ID determines the priority of the
COB for the MAX sub-layer.

Elmo Composer An Elmo software application used for controller setup, application

downloading and monitoring.

Hexadecimal Numbers marked with either “h” (such as 1000h) or “0x” (such as

0x1000) refer to a hexadecimal value. Objects and numbers may appear
in either form in different CAN documents

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LMT (Layer Management): Functions to inquire and change the settings of

certain parameters of the local layers on a CAL module.

LSS (Layer Setting Services): Functions to inquire and change the settings of

certain parameters of the local layers on a CANopen network. An LSS
Master can change the following parameters of LSS Slaves:

 Node ID

 Timing parameters of the physical layer (Baud Rate)

 LSS address

The LSS Slave can be configured for a CANopen network without using

any hardware based devices such as DIP-switches.

LSS Master The device that configures other modules via a CANopen Network.

There may be only one LSS Master in a network.

LSS Slave The device that is configured by the LSS Master via a CANopen Network

is called the LSS Slave.

MAC (Medium Access Control): One of the sub-layers of the Data Link Layer

in the CAN Reference Model that controls who gets access to the
medium to send a message.

NMT (Network Management): One of the service elements of the application

layer in the CAN Reference Model. The NMT serves to configure,
initialize, and handle errors in a CAN network.

1.3 LSS Hardware Restrictions (LSS Address)

All LSS Slaves must support valid Object Dictionary entries for Identity object [1018h]
which has 32 bits for each part of the LSS Address:

 Vendor-ID (numerical number)

 Product-Code (numerical number)

 Revision-Number (major an minor revision as numerical number)

 Serial-Number (numerical number)

A Product-Code, Revision-Number and a Serial-Number are assigned by the device
supplier. The LSS address which must be absolutely unique. No other LSS slave may
have the same LSS address.

1.4 LSS Operating Restrictions

To function properly the following restrictions apply:

 All devices on a CANopen network must support LSS.

 There can be only one LSS Master.

 All nodes are required to start-up with the same initial baud rate.

 LSS communication can take place during any NMT state such as “stopped”

or "pre-operational".

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1.5 Elmo Documentation

This manual – included in the Elmo CANopen Implementation Guide – is part of the Elmo

SimplIQ digital servo drive documentation set, as outlined in the following diagram:

In addition to this document, the

SimplIQ documentation set includes:

 The Harmonica, Bassoon, Cello and Cornet Installation Guides, which provides full

instructions for installing

SimplIQ digital servo drives.

 The Composer User Manual, which includes explanations of all the software tools that

are a part of Elmo’s Composer software environment.

 The

SimplIQ Software Manual, which describes the comprehensive software used with

the

SimplIQ line of digital servo drives.

 The CANopen Implementation Guide, which explains how to implement CANopen DS

301-based communication (including DSP 402) with a

SimplIQ digital servo drive.

Note:

SimplIQ drives are fully compliant with CiA’s DSP305 protocol for Layer Setting

Service (LSS).