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 SimplIQ 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.

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.			Elmo Motion Control GmbH
1 Park Drive, Suite 12			Steinbeisstrasse 41
Westford, MA		01886	D-78056, Villingen-Schwenningen
USA			Germany
Tel:	+1 (978)	399-0034	Tel:	[phone]	www.elmomc.com
Fax:	+1 (978)	399-0035	Fax:	[phone]

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

CANopen DSP 402 Implementation Guide
		ii
MAN-CAN402IG (Ver. 1.2)
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
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

	CANopen DSP 402 Implementation Guide	iii
	MAN-CAN402IG (Ver. 1.2)

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

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

CANopen DSP 402 Implementation Guide
		iv
MAN-CAN402IG (Ver. 1.2)
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
Appendix A: Dimension Index Table .................................................................................		109
Appendix B: Notation Index Table......................................................................................		110

	CANopen DSP 402 Implementation Guide	1
	MAN-CAN402IG (Ver. 1.2)

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 SimplIQ family of digital servo drives ) is used as the main 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.

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 SimplIQ digital servo drive.

Using the Composer to monitor SimplIQ digital servo drive behavior through the RS232 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.

1.1Operating 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	2
	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.

1.2Abbreviations and Terms

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.

	CANopen DSP 402 Implementation Guide	3
	MAN-CAN402IG (Ver. 1.2)

1.3Elmo 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 Software Manual

SimplIQ Command Reference Manual

Programming

Composer User Manual

Setup

									SimplIQ Servo Drive
Installation									Installation Guides

In addition to this document, the SimplIQ documentation set includes:

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 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.

The SimplIQ Software Manual, which describes the comprehensive software used with the SimplIQ digital servo drive.

The CANopen Implementation Guide, which explains how to implement CANopen DS 301-based communication with a SimplIQ digital servo drive.

SimplIQ drives are fully compliant with CiA’s DSP305 protocol for Layer Setting Service (LSS).

	CANopen DSP 402 Implementation Guide	4
	MAN-CAN402IG (Ver. 1.2)

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 SimplIQ CANopen DS 301 Implementation Guide.

Name	Index	Description	Access	Mappable?
Abort	0x6007	Function to perform on heartbeat	R/W	N
connection		event. (Link)
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	0x6061	Displays actual mode of operation.	R	N
operation
display
Position	0x6062	Output of profiler. Position	R	Y
demand value		command.
Actual position	0x6063	Actual position taken from position	R	Y
internal unit		sensor, in increments.
Position actual	0x6064	Actual position as taken from	R	Y
value		position sensor, in user units.
Position	0x6065	Defines a range of tolerated position	R/W	N
following error		values symmetrical to the position
window		demand value.
Position	0x6066	Defines the timeout for the next error	R/W	N
following error		window to set the following error
window time		indication.
Position	0x6067	Defines a symmetrical position	R/W	N
window		window for the target position for
		target reached indication.

	CANopen DSP 402 Implementation Guide	5
	MAN-CAN402IG (Ver. 1.2)

Name	Index	Description	Access	Mappable?
Position	0x6068	Defines the time in which the position	R/W	N
window time		within the position window indicates
		target reached.
Velocity sensor	0x6069	Actual velocity as calculated from the	R	Y
actual value		main velocity sensor, in increments.
Velocity sensor	0x606A	Selects the velocity sensor reading	R/W	N
selection code		from either the position or the
		velocity sensor.
Velocity	0x606B	Demand value for velocity controller.	R	Y
demand value
Velocity actual	0x606C	Actual velocity from either position	R	Y
sensor		or velocity sensor.
Velocity	0x606D	Monitors whether required target	R/W	N
window		velocity was achieved.
Velocity	0x606E	Defines the time in which a target	R/W	N
window time		velocity is considered as reached.
Velocity	0x606F	Defines the value in which the	R/W	N
threshold		velocity is considered to be 0.
Velocity	0x6070	Defines (with object 0x607F) the time	R/W	N
threshold time		in which the velocity is considered to
		be 0.
Target torque	0x6071	The input value for the torque	R/W	Y
		controller in profile torque mode.
Max torque	0x6072	The maximum permissible torque in	R/W	N
		the motor.
Max current	0x6073	The maximum permissible torque	R/W	N
		creating current in the motor.
Torque demand	0x6074	The maximum permissible torque	R	N
value		creating current in the motor.
Motor rated	0x6075	This value is taken from the motor	R/W	N
current		nameplate.
Motor rated	0x6076	This value is taken from the motor	R/W	N
torque		name plate.
Torque actual	0x6077	The instantaneous torque in the drive	R	Y
value		motor.
Current actual	0x6078	The instantaneous current in the	R	Y
value		drive motor.
Profiled target	0x607A	Defines target position for absolute or	R/W	Y
position		relative point-to-point motion.
Position range	0x607B	Sets the limits in which the position	R/W	N
limit		numerical values are available.

	CANopen DSP 402 Implementation Guide	6
	MAN-CAN402IG (Ver. 1.2)

Name	Index	Description	Access	Mappable?
Homing offset	0x607C	Defines offset from homing zero	R/W	N
		position to application zero position.
Software	0x607D	Defines limits for demand position	R/W	N
position limit		value and actual position value.
Polarity	0x607E	Sets polarity for position or speed	R/W	Y
		command and actual value.
Max profile	0x607F	Defines limit to which a profile	R/W	N
velocity		velocity speed is saturated.
Profile velocity	0x6081	Sets the speed for the profile position	R/W	Y
		motion.
Profile	0x6083	Defines the acceleration for the	R/W	Y
acceleration		profile velocity and profile position
		motion.
Profile	0x6084	Defines deceleration for profile	R/W	N
deceleration		velocity and profile position motion.
Quick stop	0x6085	Sets the deceleration for a quick stop	R/W	N
deceleration		state.
Motion profile	0x6086	Defines method by which profile	R/W	N
type		motion is evaluated (linear or jerk)
Torque slope	0x6087	the rate of change of torque	R/W	Y
Torque profile	0x6088	Used to select the type of torque	R/W	N
type		profile used to perform a torque
		change.
Position	0x6089	Used to scale position objects.	R/W	N
notation index
Position	0x608A	This object defines the position	R/W	N
dimension index		dimension index.
Velocity	0x608B	This is defined by the physical	R/W	N
notation index		dimensions and calculated by unit type.
Velocity	0x608C	This is used together with the velocity	R/W	N
dimension index		notation index to define a unit.
Acceleration	0x608D	The unit is defined by the physical	R/W	N
notation index		dimensions and calculated by unit
		type and exponent
Acceleration	0x608E	This defines the acceleration	R/W	N
dimension index		dimension index, which is used
		together with the acceleration
		notation index (object 0x608D) to
		define a unit

	CANopen DSP 402 Implementation Guide	7
	MAN-CAN402IG (Ver. 1.2)

Name	Index	Description	Access	Mappable?
Position encoder	0x608F	Defines relation between motor	R/W	N
resolution		revolution and position increments.
Velocity	0x6090	Defines ratio of encoder increments/	R/W	N
encoder		sec per motor revolutions/sec.
resolution
Position factor	0x6093	Converts position in user units to	R/W	N
		position in internal increments
Velocity	0x6094	Converts desired velocity in velocity	R/W	N
Encoder factor		units into internal increments/sec.
Velocity factor 1	0x6095	Converts motor data into velocity	R/W	N
		data.
Velocity factor 2	0x6096	Converts encoder data for position	R/W	N
		into encoder data for velocity.
Acceleration	0x6097	Converts the acceleration from user	R/W	N
factor		units to internal increments/sec.
Homing method	0x6098	Defines method by which homing	R/W	N
		procedure is performed.
Homing speed	0x6099	Sets speed for homing procedure.	R/W	N
Homing	0x609A	Sets acceleration for homing	R/W	N
acceleration		sequence.
Interpolated	0x60C0	Sets sub-mode for interpolated	R/W	N
position sub		position algorithm.
mode
Interpolated	0x60C1	Sets data for interpolation position	R/W	Y
data record		trajectory.
Interpolated	0x60C2	Defines time for interpolation	R/W	Y
position time		position trajectory.
period
Interpolation	0x60C4	Defines method to store position data	R/W	Y: buffer
data		record.		position
configuration				N: all the
				other
				entries.
Position	0x60FC	Reads position command in	R	Y
demand value		increments as given to position
		controller
Digital input	0x60FD	Reads digital input according to DSP	R	Y
		402, and also reflects Elmo digital
		input logical state.
Target velocity	0x60FF	Sets velocity reference for velocity	R/W	Y
		profiler.

	CANopen DSP 402 Implementation Guide	8
	MAN-CAN402IG (Ver. 1.2)

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

	CANopen DSP 402 Implementation Guide	9
	MAN-CAN402IG (Ver. 1.2)

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 SimplIQ CANopen Implementation Manual and CiA DS-301. 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.

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	10
	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
1A00h	1		Number of entries	1
			Statusword	6041 00 10h
Index	Sub-index		Name	Default Value
2F20h	1		TPDO1 asynchronous	0
			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
	2	Transmission type	254

Index	Sub-index	Name	Default Value
1601h	0	Number of entries	1
	1	Binary interpreter	2013 00 40h
		command

	CANopen DSP 402 Implementation Guide	11
	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

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

	CANopen DSP 402 Implementation Guide	12
	MAN-CAN402IG (Ver. 1.2)

5:Common Entries

5.1Drive Error

The drive functionality in case of an error is determined using the following objects: 6007h: defined according to the SimplIQ CANopen Implementation Manual.

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
	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	Details
0	No action
1	Malfunction	Motor is off (MO=0) and motor failure code is
		0x800. The failure is reported and possibly
		activates an AUTOERR routine similar to
		other failures (MF command).
2	Device control	Motor is off (MO=0), but no failure indication
	command	is set (MF=0).
	“Disable_voltage”
3	Device control	ST command is executed. Its action depends
	command “Quick_stop”	on unit mode (UM).

	CANopen DSP 402 Implementation Guide	13
	MAN-CAN402IG (Ver. 1.2)

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
	Value range		UNSIGNED16
	Default value		0

5.2Motor 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	14
	MAN-CAN402IG (Ver. 1.2)

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
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	15
	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
Default value

Objects of data type VISIBLE_STRING have 32 characters.

Object 0x6406: Motor calibration data

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	16
	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
	Value range		Unsigned32
	Default value		No

5.3Drive 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	17
	MAN-CAN402IG (Ver. 1.2)

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

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	18
	MAN-CAN402IG (Ver. 1.2)

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

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	19
	MAN-CAN402IG (Ver. 1.2)

Data description:

31	22	21	16	15	4	3	2	1	0
Manufactu		Digital		Reserved		Interlock	Home	Positive	Negative
rer specific		input 1…10					switch	limit	limit switch
		logic state						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.

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	20
	MAN-CAN402IG (Ver. 1.2)

6:Device Control

6.1Objects

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.

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 Terminals (6040h)

Logical Operation Remote

Faults

State Machine

Status of the Drive Function

statusword

(6041h)

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	21
	MAN-CAN402IG (Ver. 1.2)

States may be changed using the controlword and/or according to internal events. The current state can be read using the statusword.

controlword

(6040h)

State Machine			Internal Events

statusword

(6041h) Actions

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:

Power					Fault	13
Disabled
	Start					FAULT REACTION
						ACTIVE
	0					14
	NOT READY TO					NOT READY TO
	SWITCH ON					SWITCH ON
	1					15
	SWITCH ON
	DISABLED
	2	7
	READY TO
	SWITCH ON
Power	3	6	10	12
Enabled
	SWITCHED ON
9	8
	4	5
	OPERATION			11		QUICK STOP
	ENABLE			16		ACTIVE

Figure 6-3: State Machine Block Diagram

	CANopen DSP 402 Implementation Guide	22
	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.

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 applied 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	23
	MAN-CAN402IG (Ver. 1.2)

* 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.

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	24
	MAN-CAN402IG (Ver. 1.2)

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 from host.

Action: The drive operation is disabled.

State Transition 6: SWITCHED ON => READY TO SWITCH ON

Event: Shutdown command received from host.

Action: The power section is switched off.

State Transition 7: READY TO SWITCH ON => SWITCH ON DISABLED

Event: Quick Stop and Disable Voltage commands received from host.

Action: None.

State Transition 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 Transition 9: OPERATION ENABLE => SWITCH ON DISABLED

Event: Disable Voltage command received from host.

Action: The power section is switched off immediately, and the motor is free to rotate if not braked.

State Transition 10: SWITCHED ON =>SWITCH ON DISABLED

Event: Disable Voltage or Quick Stop command received from host.

Action: The power section is switched off immediately, 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 higher than 5 (stay in QUICK STOP ACTIVE state).

Action: The profile generator finished the deceleration 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 => FAULT

Event: The fault reaction is completed.

Action: The drive function is disabled. The power section may be switched off.

State Transition 15: FAULT=>SWITCH ON DISABLED

Event: Fault Reset command received from host.

Action: The fault condition is reset if no fault currently exists in the drive.