Elmo DSP 402 User Manual
Elmo Motion Control
CANopen DSP 402
Implementation Guide
December 2004
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-
CAN402IG
Copyright © 2003, 2004
Elmo Motion Control Ltd.
All rights reserved.
Revision History
Ver. 1.2 Dec. 2004 References to Harmonica changed to SimplIQ (MAN-CAN402IG)
• New Profile Torque chapter
• Chapter on interpolation was modified
Ver. 1.1 Nov. 2003 mapping of the following objects modified: (MAN-CAN402IG)
0x6040,0x6060,0x607A,0x6081,0x6082,0x6083,0x6084,0x6089, 0x60C1,0x60C2
Ver. 1.0 Sept. 2003 Initial Release (HARCREN1102)
Elmo Motion Control Inc.
1 Park Drive, Suite 12
Westford, MA 01886
USA
Tel: +1 (978) 399-0034
Fax: +1 (978) 399-0035
Elmo Motion Control GmbH
Steinbeisstrasse 41
D-78056, Villingen-Schwenningen
Germany
Tel: +49 (07720) 8577-60
Fax: +49 (07720) 8577-70
www.elmomc.com
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
Contents
1: Introduction ............................................................................................................................ 1
1.1 Operating Principles......................................................................................................... 1
1.2 Abbreviations and Terms................................................................................................. 2
1.3 Elmo Documentation........................................................................................................ 3
2: The DSP 402 Object Dictionary ........................................................................................... 4
3: Emergencies ............................................................................................................................ 9
4: Predefinition........................................................................................................................... 9
Object 0x1000: Device type .............................................................................................. 9
Object 0x1001: Error register............................................................................................ 9
5: Common Entries....................................................................................................................12
5.1 Drive Error........................................................................................................................12
Object 0x6007: Abort connection option code.............................................................. 12
Object 0x603F: Error code .............................................................................................. 13
5.2 Motor Data........................................................................................................................13
Object 0x6402: Motor type.............................................................................................. 13
Object 0x6403: Motor catalog number .......................................................................... 14
Object 0x6404: Motor manufacturer.............................................................................. 15
Object 0x6406: Motor calibration data .......................................................................... 15
Object 0x6407: Motor service periods ........................................................................... 16
5.3 Drive Data.........................................................................................................................16
Object 0x6502: Supported drive modes ........................................................................ 17
Object 0x6504: Drive manufacturer............................................................................... 17
Object 0x6505: http drive catalog address.................................................................... 18
Object 0x60FD: Digital inputs........................................................................................ 18
6: Device Control.......................................................................................................................20
6.1 Objects...............................................................................................................................20
Object 0x6040: Controlword .......................................................................................... 26
Object 0x6041: Statusword............................................................................................. 28
6.2 Halt, Stop and Fault Objects...........................................................................................31
Object 0x605A: Quick stop option code........................................................................ 31
Object 0x605B: Shutdown option code ......................................................................... 32
Object 0x605C: Disable operation option code ............................................................ 33
Object 0x605D: Halt option code................................................................................... 34
Object 0x605E: Fault reaction option code ................................................................... 35
7: Modes of Operation..............................................................................................................36
7.1 Functional Description....................................................................................................36
7.2 Objects...............................................................................................................................36
Object 0x6060: Modes of operation ............................................................................... 36
Object 0x6061: Modes of operation display.................................................................. 37
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8: Factors .....................................................................................................................................38
8.1 Relationship between Physical and Internal Units.......................................................38
8.2 Functions and Limits.......................................................................................................38
8.3 Objects...............................................................................................................................39
Object 0x607E: Polarity................................................................................................... 39
Object 0x6089: Position notation index......................................................................... 40
Object 0x608A: Position dimension index.................................................................... 40
Object 0x608B: Velocity notation index ........................................................................ 41
Object 0x608C: Velocity dimension index.................................................................... 42
Object 0x608D: Acceleration notation index ................................................................ 42
Object 0x608E: Acceleration dimension index ............................................................. 43
Object 0x608F: Position encoder resolution ................................................................. 44
Object 0x6090: Velocity encoder resolution.................................................................. 45
Object 0x6093: Position factor........................................................................................ 46
Object 0x6094: Velocity encoder factor......................................................................... 47
Object 0x6095: Velocity factor 1..................................................................................... 48
Object 0x6096: Velocity factor 2..................................................................................... 49
Object 0x6097: Acceleration factor ................................................................................ 51
ii
9: Homing ...................................................................................................................................53
9.1 General Information ........................................................................................................53
9.2 Objects...............................................................................................................................55
Object 0x607C: Home offset........................................................................................... 55
Object 0x6098: Homing method .................................................................................... 56
Object 0x6099: Homing speeds...................................................................................... 57
Object 0x609A: Homing acceleration............................................................................ 58
9.3 Functional Description....................................................................................................58
9.4 DSP 402 Homing Methods..............................................................................................60
9.4.1 Method 1: Homing on the negative limit switch and index pulse.................60
9.4.2 Method 2: Homing on the positive limit switch and index pulse..................60
9.4.3 Methods 3 and 4: Homing on the positive home switch and index pulse ....61
9.4.4 Methods 5 and 6: Homing on the negative home switch and index pulse ...61
9.4.5 Methods 7 to 14: Homing on the home switch and index pulse....................62
9.4.6 Methods 15 and 16: Reserved ............................................................................63
9.4.7 Methods 17 to 30: Homing without an index pulse ........................................63
9.4.8 Methods 31 and 32: Reserved ............................................................................63
9.4.9 Methods 33 and 34: Homing on the index pulse .............................................63
9.4.10 Method 35: Homing on the current position....................................................63
10: Position Control Function..................................................................................................64
10.1 General Information ........................................................................................................64
10.2 Objects...............................................................................................................................65
Object 0x6062: Position demand value ......................................................................... 65
Object 0x6063: Position actual value............................................................................. 65
Object 0x6064: Position actual value............................................................................. 66
Object 0x6065: Following error window....................................................................... 66
Object 0x6066: Following error time out ...................................................................... 67
Object 0x6067: Position window.................................................................................... 68
Object 0x6068: Position window time........................................................................... 68
Object 0x60FC: Position demand value - increments.................................................. 69
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11: Profiled Position..................................................................................................................70
11.1 General Information ........................................................................................................70
11.2 Objects...............................................................................................................................72
Object 0x607A: Target position...................................................................................... 72
Object 0x607B: Position range limit............................................................................... 72
Object 0x607D: Software position limit ........................................................................ 74
Object 0x607F: Max profile velocity.............................................................................. 75
Object 0x6081: Profile velocity....................................................................................... 76
Object 0x6082: End velocity (not yet implemented).................................................... 76
Object 0x6083: Profile acceleration................................................................................ 77
Object 0x6084: Profile deceleration ............................................................................... 77
Object 0x6085: Quick stop deceleration........................................................................ 78
Object 0x6086: Motion profile type ............................................................................... 78
11.3 Functional Description ....................................................................................................79
12: Interpolated Position ..........................................................................................................81
12.1 General Information ........................................................................................................81
12.2 Objects...............................................................................................................................84
Object 0x60C0: Interpolation sub mode select ............................................................. 84
Object 0x60C1: Interpolation data record..................................................................... 85
Object 0x60C2: Interpolation time period .................................................................... 86
Object 0x60C3: Interpolation sync definition............................................................... 87
Object 0x60C4: Interpolation data configuration......................................................... 88
12.3 Functional Description ....................................................................................................91
12.3.1 Linear Interpolation............................................................................................92
12.3.2 Spline Interpolation ............................................................................................92
12.3.3 Motion Synchronization.....................................................................................93
iii
13: Profiled Velocity..................................................................................................................94
13.1 General Information ........................................................................................................94
13.2 Objects...............................................................................................................................96
Object 0x6069: Velocity sensor actual value................................................................. 96
Object 0x606A: Sensor selection code ........................................................................... 96
Object 0x606B: Velocity demand value......................................................................... 97
Object 0x606C: Velocity actual value............................................................................ 98
Object 0x606D: Velocity window .................................................................................. 98
Object 0x606E: Velocity window time .......................................................................... 99
Object 0x606F: Velocity threshold................................................................................. 99
Object 0x6070: Velocity threshold time....................................................................... 100
Object 0x60FF: Target velocity..................................................................................... 100
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14: Profiled Torque Mode......................................................................................................101
14.1 General Information ......................................................................................................101
14.1.1 Internal states ....................................................................................................102
Controlword of profile torque mode .......................................................................... 102
14.2 Objects dictionary entries..............................................................................................103
14.2.1 Objects defined in other chapters....................................................................103
14.2.2 Objects description............................................................................................103
Object 0x6071: Target torque ....................................................................................... 103
Object 0x6072: Max torque........................................................................................... 104
Object 0x6073: Max Current......................................................................................... 104
Object 0x6074: Torque Demand value ........................................................................ 105
Object 0x6075: Motor Rate Current............................................................................. 106
Object 0x6076: Motor Rate Torque .............................................................................. 106
Object 0x6077: Torque Actual value............................................................................ 107
Object 0x6078: Current Actual value .......................................................................... 107
Object 0x6087: Torque slope ........................................................................................ 108
Object 0x6088: Torque profile type ............................................................................. 108
iv
Appendix A: Dimension Index Table .................................................................................109
Appendix B: Notation Index Table......................................................................................110
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1
1: Introduction
This document describes the objects and operational modes of the Elmo DSP-based
motion controller implementation of the CiA DSP 402 protocol. The Elmo Harmonica
digital servo drive (part of the
example in this document.
Generally, the DSP 402 protocol refers only to the load behavior relating to the operation
of speed, position, limits and emergencies. It does not deal with control parameters such
as PI/P, scheduling and feed forward. The motor can be tuned and the plant parameters
set with the Elmo Composer, which may or may not use this protocol for settings. The
protocol offers methods in which a profiled reference can be given to the final load.
The DSP 402 implementation is applicable to Elmo position unit modes; that is
UM=4 or UM=5. This is assumed by the Elmo drive itself and it gives no other
indication.
SimplIQ family of digital servo drives ) is used as the main
The Elmo controller provides a number of different options for setting commands and
parameters, such as via the binary interpreter, OS interpreter, RS-232 interpreter and user
programs. When the user works with DSP 402, all relevant motion commands must be
given through this method only. Other command sources may prevent it from operating
properly according to the protocol.
Subsequently modifying controller states, modes and reference parameters using other
methods may lead to undefined states. For example, in a fault state, a FAULT_RESET
from the controlword must be given before enabling the motor again. But sending MO=1
through the OS interpreter may activate the motor and leave the status word of the
DSP 402 with an undefined status.
Other command sources are still useful for purposes not covered by the DSP 402
protocol. Examples include:
Monitoring the states of and inputs to the
Using the Composer to monitor
SimplIQ digital servo drive behavior through the RS-
SimplIQ digital servo drive.
232 port while the digital servo drive is under control of the CAN DSP 402 protocol.
Using the user program (or any of the interpreters) to program issues outside the
range of DSP 402 usage. For example, when the DSP 402 digital output command is
not used, the digital outputs can be operated freely by a user program.
1.1 Operating Principles
The CiA DSP 402 CANopen Device Profile for Drives and Motion Control is used to provide
drives in a CAN network with an understandable and consistent behavior. The profile is
built on top of a CAN communication profile, called CANopen, which describes the basic
communication mechanisms common to all devices in the CAN network.
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
The purpose of the drive units is to connect axle controllers or other motion control
products to the CAN bus. They usually receive configuration information via service data
objects for I/O configurations, limit parameters for scaling, or application-specific
parameters. At run time, data ban be obtained from the drive unit via the CAN bus either
by polling or in event-driven mode (with properly-mapped TPDOs).
The motion control products use process-data object mapping for real-time operation,
which may be configured using service data objects (SDOs). This communication channel
is used to interchange real-time data-like set-points or actual values such as position
actual values.
The most important part of a device profile is the object dictionary description. The
object dictionary is essentially a grouping of objects accessible via the network in an
ordered pre-defined fashion. The DSP 402 standard objects of single-axis drives, like the
Harmonica, are all in the index range of 0x6000 to 0x67ff.
1.2 Abbreviations and Terms
2
The following terms are used in this document:
abs/rel Absolute and relative, which are indications of how to treat
the position reference command in relation to the actual
location.
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.
hm Homing mode
ip Interpolated position mode
Load position What the position sensor measures, expressed in position
units (in contrast to position sensor increments).
Non-volatile The object data may be saved to the flash memory of a
device using the SV command, or by setting object 0x1010
(sub1).
Position sensor increments Units measured by the load position sensor. The speed is
derived from the position sensor.
pp Profiled position mode
tq Profiled torque mode
pv Profiled velocity mode
Reference Motion parameters can be specified in terms of
meters/second for speed, or encoder counts for position.
rfg The reference generator, which generates the trajectory for
velocity mode only.
l
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
1.3 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:
CANopen Implementation Guide
SimplIQ
SimplIQ
Programming
Composer User Manual
Setup
Software Manual
Command Reference Manua
3
SimplIQ Servo Drive
Installation
In addition to this document, the
The Harmonica, Cello and Bassoon Installation Guides, which provides full
instructions for installing a drive
The Composer User Manual, which includes explanations of all the software tools that
are a part of Elmo’s Composer software environment
The
The
The CANopen Implementation Guide, which explains how to implement CANopen DS
SimplIQ Software Manual, which describes the comprehensive software used with
the
SimplIQ line of line of line of digital servo drives
This is the main source of detailed explanations of all SimplIQ commands
mentioned in this manual.
SimplIQ Software Manual, which describes the comprehensive software used with
the
SimplIQ digital servo drive.
301-based communication with a
Installation Guides
SimplIQ documentation set includes:
SimplIQ digital servo drive.
SimplIQ drives are fully compliant with CiA’s DSP305 protocol for Layer Setting
Service (LSS).
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MAN-CAN402IG (Ver. 1.2)
4
2: The DSP 402 Object Dictionary
This section describes the objects related to the DSP 402 device specific functionality. For
more information about the object dictionary, refer to the Elmo
Implementation Guide.
Name Index Description Access Mappable?
SimplIQ CANopen DS 301
Abort
connection
0x6007 Function to perform on heartbeat
event. (Link)
R/W N
option code
Error code 0x603F Captures the last error R N
Controlword 0x6040 Allows changing of drive states. R/W Y
Statusword 0x6041 Indicates current drive status. R Y
Quick stop
0x605A Sets the quick stop option code. R/W N
option code
Shut down
0x605B Sets the shut down option code. R/W N
option code
Disable
0x605C Sets the disable operation option code. R/W N
operation option
code
Halt option code 0x605D Sets the Halt option code. R/W N
Fault reaction
0x605E Sets drive reaction when fault occurs. R/W N
option code
Modes of
0x6060 Sets mode of operation R/W Y
operation
Modes of
operation
display
Position
demand value
Actual position
internal unit
Position actual
value
Position
following error
window
Position
following error
window time
Position
window
0x6061 Displays actual mode of operation. R N
0x6062 Output of profiler. Position
R Y
command.
0x6063 Actual position taken from position
R Y
sensor, in increments.
0x6064 Actual position as taken from
R Y
position sensor, in user units.
0x6065 Defines a range of tolerated position
R/W N
values symmetrical to the position
demand value.
0x6066 Defines the timeout for the next error
R/W N
window to set the following error
indication.
0x6067 Defines a symmetrical position
R/W N
window for the target position for
target reached indication.
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Name Index Description Access Mappable?
Position
window time
Velocity sensor
actual value
Velocity sensor
selection code
Velocity
demand value
Velocity actual
sensor
Velocity
window
Velocity
window time
Velocity
threshold
Velocity
threshold time
0x6068 Defines the time in which the position
R/W N
within the position window indicates
target reached.
0x6069 Actual velocity as calculated from the
R Y
main velocity sensor, in increments.
0x606A Selects the velocity sensor reading
R/W N
from either the position or the
velocity sensor.
0x606B Demand value for velocity controller. R Y
0x606C Actual velocity from either position
R Y
or velocity sensor.
0x606D Monitors whether required target
R/W N
velocity was achieved.
0x606E Defines the time in which a target
R/W N
velocity is considered as reached.
0x606F Defines the value in which the
R/W N
velocity is considered to be 0.
0x6070 Defines (with object 0x607F) the time
R/W N
in which the velocity is considered to
be 0.
Target torque 0x6071 The input value for the torque
controller in profile torque mode.
Max torque
0x6072
The maximum permissible torque in
the motor.
Max current 0x6073 The maximum permissible torque
creating current in the motor.
Torque demand
value
Motor rated
current
Motor rated
torque
Torque actual
value
Current actual
value
Profiled target
position
0x6074 The maximum permissible torque
creating current in the motor.
0x6075 This value is taken from the motor
nameplate.
0x6076 This value is taken from the motor
name plate.
0x6077 The instantaneous torque in the drive
motor.
0x6078 The instantaneous current in the
drive motor.
0x607A Defines target position for absolute or
relative point-to-point motion.
R/W Y
R/W
N
R/W N
R N
R/W N
R/W N
R Y
R Y
R/W Y
Position range
limit
0x607B Sets the limits in which the position
numerical values are available.
R/W N
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Name Index Description Access Mappable?
Homing offset 0x607C Defines offset from homing zero
position to application zero position.
Software
position limit
0x607D Defines limits for demand position
value and actual position value.
Polarity 0x607E Sets polarity for position or speed
command and actual value.
Max profile
velocity
0x607F Defines limit to which a profile
velocity speed is saturated.
Profile velocity 0x6081 Sets the speed for the profile position
motion.
Profile
acceleration
0x6083 Defines the acceleration for the
profile velocity and profile position
motion.
Profile
deceleration
0x6084 Defines deceleration for profile
velocity and profile position motion.
Quick stop
deceleration
0x6085 Sets the deceleration for a quick stop
state.
R/W N
R/W N
R/W Y
R/W N
R/W Y
R/W Y
R/W N
R/W N
Motion profile
type
0x6086 Defines method by which profile
motion is evaluated (linear or jerk)
R/W N
Torque slope 0x6087 the rate of change of torque R/W Y
Torque profile
type
0x6088 Used to select the type of torque
profile used to perform a torque
R/W N
change.
Position
0x6089 Used to scale position objects. R/W N
notation index
Position
dimension index
Velocity
notation index
Velocity
dimension index
Acceleration
notation index
0x608A This object defines the position
dimension index.
0x608B This is defined by the physical
dimensions and calculated by unit type.
0x608C This is used together with the velocity
notation index to define a unit.
0x608D The unit is defined by the physical
dimensions and calculated by unit
R/W N
R/W N
R/W N
R/W N
type and exponent
Acceleration
dimension index
0x608E This defines the acceleration
dimension index, which is used
R/W N
together with the acceleration
notation index (object 0x608D) to
define a unit
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Name Index Description Access Mappable?
Position encoder
resolution
Velocity
encoder
0x608F Defines relation between motor
revolution and position increments.
0x6090 Defines ratio of encoder increments/
sec per motor revolutions/sec.
R/W N
R/W N
resolution
Position factor 0x6093 Converts position in user units to
R/W N
position in internal increments
Velocity
Encoder factor
Velocity factor 1 0x6095 Converts motor data into velocity
0x6094 Converts desired velocity in velocity
units into internal increments/sec.
R/W N
R/W N
data.
Velocity factor 2 0x6096 Converts encoder data for position
R/W N
into encoder data for velocity.
Acceleration
factor
Homing method 0x6098 Defines method by which homing
0x6097 Converts the acceleration from user
units to internal increments/sec.
R/W N
R/W N
procedure is performed.
Homing speed 0x6099 Sets speed for homing procedure. R/W N
Homing
acceleration
Interpolated
position sub
0x609A Sets acceleration for homing
sequence.
0x60C0 Sets sub-mode for interpolated
position algorithm.
mode
Interpolated
data record
Interpolated
position time
0x60C1 Sets data for interpolation position
trajectory.
0x60C2 Defines time for interpolation
position trajectory.
period
Interpolation
data
0x60C4 Defines method to store position data
record.
configuration
Position
demand value
0x60FC Reads position command in
increments as given to position
controller
Digital input 0x60FD Reads digital input according to DSP
402, and also reflects Elmo digital
input logical state.
R/W N
R/W N
R/W Y
R/W Y
R/W Y: buffer
position
N: all the
other
entries.
R Y
R Y
Target velocity 0x60FF Sets velocity reference for velocity
profiler.
R/W Y
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Name Index Description Access Mappable?
Motor type 0x6402 R/W N
Motor catalog
0x6403 32 characters. R/W N
number
Motor
0x6404 32 characters. R/W N
manufacturer
http motor
0x6405 R/W N
catalog address
Motor
0x6406 R/W N
calibration date
Motor service
0x6407 R/W N
period
Driver modes 0x6502 R/W N
Drive
0x6504 R N
manufacturer
Drive manu-
0x6505 R N
facturer web site
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3: Emergencies
Emergency messages are detailed in the SimplIQ CANopen Implementation Guide.
4: Predefinition
Object 0x1000: Device type
The object at index 1000h describes the device type and functionality.
The SimplIQ returns 0x20192 for servo drive supporting DSP 402.
Object 0x1001: Error register
All bits are defined as in the
The device-specific bit in the error register is used by the DSP 402 protocol. The error code
can be read from the predefined error field at object 1003h and is compatible with device
profiles for drives available for other field bus systems from object 0x603F as well.
SimplIQ CANopen Implementation Manual and CiA DS-301.
9
The error register captures the latest emergency messages. SimplIQ servo drives
allow the user to block the transmission of an emergency according to object
0x2F20. Nevertheless, a blocked emergency message is captured in the relevant
entry of the error register.
PDO Mapping
The Elmo drive supports more than one operating mode of DSP 402. It also allows more
than one method to set and query commands. In addition, the use of more than one
standard PDO is predefined. With the Harmonica, four TPDOs and four RPDOs are free
for any mapping according to the Elmo object dictionary. At reset (power up, NMT
communication reset and NMT node reset), a default mapping is introduced according to
DSP 402. These default mapping can be later changed by the user.
Receive PDO 1 mapped to the controlword in the following manner:
Index Sub-index Name Default Value
1400h 0 Number of entries 2
1 COB-ID used by PDO 4000027Fh
2 Transmission type 255
Index Sub-index Name Default Value
1600h 0 Number of mapped entries 1
1 Controlword 6040 00 10h
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
Transmit PDO 1 monitors the drive behavior by transmitting the statusword whenever it
changes (typically after reception of a controlword):
Index Sub-index Name Default Value
1800h 0 Number of entries 3
1 COB-ID used by PDO 400001FFh
2 Transmission type 255
3 Inhibit Time 0
4 Reserved 0
5 Event timer 0
Index Sub-index Name Default Value
10
1A00h 1 Number of entries 1
Statusword 6041 00 10h
Index Sub-index Name Default Value
2F20h 1 TPDO1 asynchronous
events
The asynchronous transmission of TPDO1 reflects changes performed
3 milliseconds prior to the transmission.
Receive PDO 2 is mapped to the binary interpreter by default. This is done for
compatibility reasons and to enable communication with the Elmo Composer.
Index Sub-index Name Default Value
1401h 0 Number of entries 2
1 COB-ID used by PDO 4000037Fh
0
2 Transmission type 254
Index Sub-index Name Default Value
1601h 0 Number of entries 1
1 Binary interpreter
command
2013 00 40h
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MAN-CAN402IG (Ver. 1.2)
Transmit PDO 2 is mapped to the binary interpreter result object, transmitted each time
the binary interpreter completes its processing. The event behavior is set by object
0x2F20, defined in the
SimplIQ CANopen Implementation Manual.
Index Sub-index Name Default Value
1801h 0 Number of entries 3
1 COB-ID used by PDO 400002FFh
2 Transmission type 254
3 Inhibit time 0
4 Reserved 0
5 Event timer 0
11
Index Sub-index Name Default Value
1A01h 1 Number of entries 1
2 Binary interpreter result 2014 00 40h
Index Sub Name Default Value
2F20h 2 TPDO2 events 0x8000000
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5: Common Entries
5.1 Drive Error
The drive functionality in case of an error is determined using the following objects:
6007h: defined according to the
603Fh: reflects the 16 lower bits of object 0x1003, which, together with this object, get the
emergency value regardless of the emergency message mask in object 2F21h.
Object 0x6007: Abort connection option code
This object details the motor control behavior after a heartbeat failure. It has no effect if
the motor is already off.
Object description:
Index 6007h
SimplIQ CANopen Implementation Manual.
12
Name Abort connection option code
Object code VAR
Data type INTEGER16
Category Optional
Entry description:
Access Read/Write
PDO mapping No
Value range -32,768…32,767
Default value 0
Data description:
(Command details are found in SimplIQ Command Reference Manual.)
Option
Code Meaning
0 No action
1 Malfunction Motor is off (MO=0) and motor failure code is
Details
0x800. The failure is reported and possibly
activates an AUTOERR routine similar to
other failures (MF command).
2 Device control
command
“Disable_voltage”
3 Device control
command “Quick_stop”
Motor is off (MO=0), but no failure indication
is set (MF=0).
ST command is executed. Its action depends
on unit mode (UM).
CANopen DSP 402 Implementation Guide
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Object 0x603F: Error code
This object captures the code of the last error that occurred in the drive. It corresponds to
the value of the lower 16 bits of object 1003h, pre-defined error field.
Object description:
Index 603Fh
Name Error code
Object code VAR
Data type UNSIGNED16
Category Optional
Entry description:
Access Read only
PDO mapping No
13
Value range UNSIGNED16
Default value 0
5.2 Motor Data
Objects 6402h to 64FFh serve as a database for motor parameters. The values are typically
found on the motor nameplate or the manufacturer’s motor catalog and are used to
maintain a service database within the controlling device of the drive. Most of the entries
are typically entities from the manufacturer’s motor catalog. The Elmo DSP 402
implementation supports the following objects:
6402h: Motor type
6403h: Motor catalog number
6404h: Motor manufacturer
6405h: Http motor catalog address
6406h: Motor calibration date
6407h: Motor service period
Object 0x6402: Motor type
This object defines the type of motor driven by the controller. The values of this object are
represented in the following table:
Object values:
Value Motor Type
0 Non-standard motor
1 DC motor
9 Micro-step stepper motor
10 Sinusoidal PM brushless motor
11 Trapezoidal PM brushless motor
CANopen DSP 402 Implementation Guide
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This object contains information for the user only and does not convey the value of
the CA[28] command at the calibration procedure of a drive.
Object description:
Index 6402h
Name Motor type
Object code VAR
Data type UNSIGNED16
Category Optional
Entry description:
Access Read/Write
PDO mapping No
Value range UNSIGNED16
14
Default value
Object 0x6403: Motor catalog number
This object describes the manufacturer’s motor catalog number (nameplate number). The
maximum length of this object is 32 characters.
Object description:
Index 6403h
Name Motor catalog number
Object code VAR
Data type VISIBLE_STRING
Category Optional
Entry description:
Access Read/Write
PDO mapping No
Value range
Default value
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
Object 0x6404: Motor manufacturer
This object gives the motor manufacturer’s name. The maximum length of this object is
32 characters.
Object description:
Index 6404h
Name Motor manufacturer
Object code VAR
Data type VISIBLE_STRING
Category Optional
Entry description:
Access Read/Write
PDO mapping No
Value range
15
Default value
Objects of data type VISIBLE_STRING have 32 characters.
Object 0x6406: Motor calibration d
ata
Date of the motor last inspection.
Object description:
Index 6406h
Name Motor calibration date
Object code VAR
Data type TIME_OF_DAY
Category Optional
Entry description:
Access Read/Write
PDO mapping No
Value range No
Default value No
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
Object 0x6407: Motor service periods
Value, in hours, of the nominal motor lifetime. The motor needs servicing after this time.
Object description:
Index 6407h
Name Motor service period
Object code VAR
Data type UNSIGNED32
Category Optional
Entry description:
Access Read/Write
PDO mapping No
16
Value range Unsigned32
Default value No
5.3 Drive Data
Objects 6500h to 65FFh serve as a database for drive parameters. The Elmo DSP 402
implementation supports the following objects:
6502h: Supported drive modes:
Homing mode (hm), profiled position mode (pp), interpolated position mode (ip),
profiled velocity mode (pv), Profiled torque mode (tq).
6504h: Drive manufacturer
6505h: Http drive catalog address
60FDh: Drive digital input
These objects, except 6503h, are “read only” and are burnt into the drive as part of the
manufacturing process. Object 6503h is a non-volatile object, which serves as a database
for the user to enter the type of drive as appears in the nameplate (for example,
HAR A15/200CAN). The default value is 0.
The following objects provide more information about the drive:
1008h: Manufacturer device name
100Ah: Manufacturer software version
CANopen DSP 402 Implementation Guide
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Object 0x6502: Supported drive modes
Object description:
Index 6502h
Name Supported drive modes
Object code VAR
Data type UNSIGNED32
Category Optional
Entry description:
Access Read only
PDO mapping No
Value range UNSIGNED32
17
Default value 0x65
Data description:
31 16 15 7 6 5 4 3 2 1 0
Manufacturer
reserved ip hm reserved tq pv vl pp
specific
Object 0x6504: Drive manufacturer
This object gives the drive manufacturer’s name.
Object description:
Index 6504h
Name Drive manufacturer
Object code VAR
Data type VISIBLE_STRING
Category Optional
Entry description:
Access Read only
PDO mapping No
Value range
Default value Elmo Motion Control Ltd.
According to DSP 402, object 0x6504 has read/write access, although with the
Harmonica, it has read only access.
CANopen DSP 402 Implementation Guide
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Object 0x6505: http drive catalog address
This object gives the Internet address of the drive manufacturer.
Object description:
Index 6505h
Name http drive catalog address
Object code VAR
Data type VISIBLE_STRING
Category Optional
Entry description:
Access Read only
PDO mapping No
Value range
Default value http:\\www.elmomc.com
18
According to DSP 402, object 0x6505 has read/write access, although with the
SimplIQ, it has read only access.
Object 0x60FD: Digital inputs
This object defines simple digital inputs for drives.
The reflected functions are:
• Negative limit switch – Similar to RLS
• Positive limit switch – Similar to FLS
• Home switch – As reflected in the IL[5] command
Object description:
Index 60FDh
Name Digital inputs
Object code VAR
Data type UNSIGNED32
Category Optional
Entry description:
Access Read only
PDO mapping Yes
Value range UNSIGNED32
Default value 0
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
Data description:
31 22 21 16 15 4 3 2 1 0
Manufactu
rer specific
Digital
input 1…10
logic state
Reserved Interlock Home
switch
Positive
limit
switch
Negative
limit switch
MSB
The switch must be “active high.”
Notes:
The interlock is always 0.
“Active high” means that the bit is set to high when the switch is logically
active.
Bits 16 – 25 reflect the logic active state of the digital inputs, starting from 1.
Logic active means that the switch can be active in either high state or low state
according to the IL[N] definition. More information can be found in the
SimplIQ
Command Reference Manual.
19
Different SimplIQ drives support a different number of digital inputs. It is
advised to use only the relevant bits according to the specific drive.
This object is evaluated every 3 milliseconds.
When mapped as asynchronous, this object is transmitted at every change within the
calculation resolution period. Inhibit time can be used to prevent busload or to control
the time latency causing the same TPDO to be transmitted due to other asynchronous
events.
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
6: Device Control
6.1 Objects
6040h: controlword
6041h: statusword
The Device Control function block controls all functions of the device, categorized as:
Device control of the state machine
Operation mode functions
The state of the device is controlled by the controlword, while the status of the device is
indicated by the statusword.
The state machine is controlled externally by the controlword and external signals. Write
access to the controlword is always allowed. The SimplIQ is always in external mode,
thus the “Remote” indication in the statusword is always ‘1’. The state machine is also
controlled by internal signals such as faults and modes of operation.
20
The following diagram illustrates the Device Control function.
The Elmo drive is always in remote mode; that is, it can be controlled only
externally by using the SDO and PDO.
controlword
controlword
(6040h)
(6040h)
Logical Operation
Logical OperationLogical Operation
State Machine
State MachineState Machine
Terminals
Terminals
statusword
statusword
(6041h)
(6041h)
Remote
Remote
Faults
Faults
Status of the Drive Function
Status of the Drive Function
Figure
6-1: Remote Mode
State Machine
The state machine describes the device status and the possible control sequence of the
drive. A single state represents a special internal or external behavior. The state of the
drive also determines which commands are accepted; for example, a point-to-point
motion can be started only when the drive is in OPERATION ENABLE state.
CANopen DSP 402 Implementation Guide
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States may be changed using the controlword and/or according to internal events. The
current state can be read using the statusword.
controlword
controlword
(6040h)
(6040h)
Internal Events
State Machine
State MachineState Machine
statusword
statusword
(6041h)
(6041h)
Actions
Actions
Internal Events
Figure 6-2: State Machine in System Context
The device states and possible control sequence of the drive are described by the state
machine, as depicted in the following figure:
21
Power
Disabled
Power
Enabled
89
Start
0
NOT READY TO
SWITCH ON
1
SWITCH ON
DISABLED
72
READY TO
SWITCH ON
SWITCHED ON
Fault
63
54
1210
13
FAULT REACTION
ACTIVE
14
NOT READY TO
SWITCH ON
15
OPERATION
ENABLE
Figure
11
16
QUICK STOP
ACTIVE
6-3: State Machine Block Diagram
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
Drive States
The following states of the device are possible:
* NOT READY TO SWITCH ON:
Low-level power (24V) has been applied to the drive.
The drive is being initialized and is running the self test.
A brake output, if present, is applied in this state.
The drive function is disabled.
This state is an internal state in which communication is enabled only at the
end. The user can neither retrieve nor monitor this state.
* SWITCH ON DISABLED:
Drive initialization is complete.
The drive parameters have been set up.
Drive parameters may be changed.
High voltage may not be applied to the drive, (such as for safety reasons; refer to
following note).
The drive function is disabled.
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Notes:
In this state, if high power is applied anyway, no indication of an error is
given. The application must be responsible for handling the state transition.
SWITCH ON DISABLED is the minimum state to which a user may switch.
* READY TO SWITCH ON:
High voltage may be applied to the drive.
The drive parameters may be changed.
The drive function is disabled.
* SWITCHED ON:
High voltage has been applied to the drive.
The power amplifier is ready.
The drive parameters may be changed.
The drive function is disabled.
No indication is given if the drive high voltage has not been applied.
* OPERATION ENABLE:
No faults have been detected.
The drive function is enabled and power is a
pplied to the motor.
The drive parameters may be changed.
(This corresponds to normal operation of the drive.)
In this state, a brake is automatically released according to the brake parameter
(BP[N]) timing.
CANopen DSP 402 Implementation Guide
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* QUICK STOP ACTIVE:
The drive parameters may be changed.
The quick stop function is being executed.
The drive function is enabled and power is applied to the motor.
According to the quick stop option code, the drive stops the motion and either
stays in quick stop or disables the motor. The term “drive stops” means that the
rfg completed the deceleration trajectory and not that the motor is stationary.
If the quick stop option code (object 0x605A) is 0 (disable drive function), the state
of the drive is SWITCH ON DISABLED.
* FAULT REACTION ACTIVE:
The drive parameters may be changed.
A fault has occurred in the drive.
The fault reaction function is being executed.
The drive function is disabled.
23
This parameter cannot be retrieved by the user. The drive automatically
switches to FAULT state.
* FAULT:
The drive parameters may be changed.
A fault has occurred in the drive.
High voltage switch-on/-off depends on the application.
The drive function is disabled.
State Transitions of the Drive Supervisor
State transitions are caused by internal events in the drive or by commands from the host
via the controlword.
State Transition 0: START => NOT READY TO SWITCH ON
Event: Reset.
Action: The drive self-tests and/or self-initializes.
State Transition 1: NOT READY TO SWITCH ON => SWITCH ON DISABLED
Event: The drive has self-tested and/or initialized successfully.
Action: Activate communication.
State Transition 2: SWITCH ON DISABLED => READY TO SWITCH ON
Event: Shutdown command received from host.
Action: None
State Transition 3: READY TO SWITCH ON => SWITCHED ON
Event: Switch On command received from host.
Action: The power section is switched on if it is not already on.
CANopen DSP 402 Implementation Guide
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State Transition 4: SWITCHED ON => OPERATION ENABLE
Event: Enable Operation command received from host.
Action: The drive function is enabled.
State Transition 5: OPERATION ENABLE => SWITCHED ON
Event: Disable Operation command received fro
m host.
Action: The drive operation is disabled.
State Transition 6: SWITCHED ON => READY TO SWITCH ON
Event: Shutdown command received from host.
Action: The pow
er section is switched off.
24
State Transition 7: READY TO SWITCH ON => SWITCH ON DISABLED
Event: Quick Stop and Disable Voltage command
s received from host.
Action: None.
State Transitio
n 8: OPERATION ENABLE => READY TO SWITCH ON
Event: Shutdown command received from host.
Action: The power section is switched off immediately,
and the motor is free to rotate
if not braked.
State Transitio
n 9: OPERATION ENABLE => SWITCH ON DISABLED
Event: Disable Voltage command received from host.
Action: The power section is switched off immediately, and the motor i
s free to rotate
if not braked.
State Transitio
n 10: SWITCHED ON =>SWITCH ON DISABLED
Event: Disable Voltage or Quick Stop command received from host.
Action: The power section is switched off immedia
tely, and the motor is free to rotate
if not braked.
State Transition 11: OPERATION ENABLE =>QUICK STOP ACTIVE
Event: Quick Stop command received from host.
Action: The quick stop function is executed.
State Transition 12: QUICK STOP ACTIVE=>SWITCH ON DISABLED
Event: Quick Stop completed or Disable Voltage command received from host.
This transition is possible if the quick stop option code is hig
her than 5 (stay in QUICK
STOP ACTIVE state).
Action: The profile generator finished the d
eceleration and the motor is disabled.
State Transition 13: All => FAULT REACTION ACTIVE
Event: A fault has occurred in the drive.
Action: Execute appropriate fault reaction.
State Transition 14: FAULT REACTION ACTIVE => FAU
LT
Event: The fault reaction is completed.
Action: The drive function is disabled. The power section may be switched
State
Transition 15: FAULT=>SWITCH ON DISABLED
Fault Reset command received from host.
Event:
Action:
The fault condition is reset if no fault currently exists in the drive.
off.
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