ElmoMC DS 301 Implementation Guide

Elmo Motion Control

CANopen DS 301

Implementation Guide

Ver. 2.1 – August 2008

CANopen DS 301 Implementation Guide

MAN-CAN301IG (Ver. 2.1)

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-CAN301IG

Copyright © 2008

Elmo Motion Control Ltd.

All rights reserved.

Revision History:
Version	Rel. Date	Status	Changes/Remarks
Ver 2.1	August 2008		y	Updated note for 0x1017.
			y Updated note for 0x2082.
			y 0x2205: Analog input can be converted to physical units.
				Updated the example.
			y	Updated 0x2F60.
			y Added note to 0xF70.
Ver 2.0	Oct 2007	MAN-CAN301IG	y	All dummy entries can be mapped
			y Added object 0x2F60, 0x2F70
			y 0x2082 can be mapped
			y Added State Machine graphic to Ch. 7
			y Added note to 0x2082
			y Added note to 0x1017
			y	Added object 0x2205

Elmo Motion Control Ltd.	Elmo Motion Control Inc.	Elmo Motion Control GmbH
64 Gissin St., P.O. Box 463	1 Park Drive, Suite 12	Steinkirchring 1
Petach Tikva 49103	Westford, MA 01886	D-78056, Villingen-Schwenningen
Israel	USA	Germany
Tel: [phone]	Tel: [phone]	Tel: [phone]
Fax: [phone]	Fax: [phone]	Fax: [phone]
[e-mail]	[e-mail]	[e-mail]	www.elmomc.com

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Contents

Chapter 1: Introduction ..........................................................................................................			1-1
1.1	Relevant Documentation .............................................................................		1-1
	1.1.1	Elmo Documentation........................................................................................	1-1
	1.1.2	CAN Documentation ........................................................................................	1-2
1.2	Terms and Abbreviations.............................................................................		1-2
1.3	SimplIQ Communication ...............................................................................		1-3

Chapter 2: CANopen Basics...................................................................................................		2-1
2.1	Physical Layer ...........................................................................................	2-1
2.2	Standard vs. Extended Addressing................................................................	2-1
2.3	Client - Server Relations ..............................................................................	2-1
2.4	Inhibit Times .............................................................................................	2-2
2.5	RTR – Remote Transmission Request.............................................................	2-2
2.6	Object Dictionary .......................................................................................	2-2
2.7	Communication Objects ..............................................................................	2-3
2.8	Object Dictionary - Data Types .....................................................................	2-4
2.9	Representation of Numbers..........................................................................	2-7

Chapter 3: The Object Dictionary.........................................................................................		3-1
Chapter 4: Service Data Objects (SDOs)..............................................................................		4-1
4.1	Initiate SDO Download Protocol...................................................................	4-2
4.2	Download SDO Protocol .............................................................................	4-3
4.3	Initiate SDO Upload Protocol .......................................................................	4-4
4.4	Upload SDO Segment Protocol .....................................................................	4-5
4.5	Abort SDO Transfer Protocol........................................................................	4-6
4.6	Uploading Data Using an SDO .....................................................................	4-7
4.7	Downloading Data Using an SDO.................................................................	4-8
4.8	Error Correction .........................................................................................	4-8

Chapter 5: Process Data Objects (PDOs) .............................................................................			5-1
5.1	Receive PDOs ............................................................................................		5-1
5.2	Transmit PDOs ..........................................................................................		5-3
5.3	PDO Mapping ...........................................................................................		5-3
	5.3.1 The Mapping Trigger – Transmission Type...................................................		5-4
	5.3.2	The Synchronous Trigger.................................................................................	5-4
	5.3.3	The Asynchronous Trigger ..............................................................................	5-5
	5.3.4	RPDO Error Handling ......................................................................................	5-5
	5.3.5	Mapping Parameter Objects.............................................................................	5-6
	5.3.6	Default Values ...................................................................................................	5-7

Chapter 6: Emergency (EMCY)..............................................................................................		6-1
6.1	Emergency Configuration............................................................................	6-1
6.2	Emergency Codes Related to Failure .............................................................	6-1
6.3	Emergency Codes for Motor Faults ...............................................................	6-1
6.4	Emergency Codes Related to PVT/PT Motion.................................................	6-1
Chapter 7: Network Management (NMT)............................................................................		7-1
Chapter 8: SYNC and Time Stamp .......................................................................................		8-1

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Chapter 9: Binary Interpreter Commands ...........................................................................			9-1
9.1	Binary Interpreter Commands and Results .....................................................		9-2
	9.1.1 Set and Query Commands ...............................................................................		9-2
	9.1.1.1	RPDO2 Structure ...............................................................................	9-2
	9.1.1.1	TPDO2 Structure................................................................................	9-4
	9.1.2 Execute Command ............................................................................................		9-5
9.2	ASCII Interpreter Commands not Supported by Binary Interpreter ....................		9-6

Chapter 10: The OS Interpreter ...........................................................................................	10-1
Chapter 11: The EDS.............................................................................................................	11-1
Chapter 12: Communication Profile ...................................................................................	12-1
Object 0x1000: Device type......................................................................................................	12-1
Object 0x1001: Error register...................................................................................................	12-2
Object 0x1002: Manufacturer status register...........................................................................	12-3
Object 0x1003: Pre-defined error field......................................................................................	12-3
Object 0x1005: COB-ID SYNC message..................................................................................	12-4
Object 0x1008: Manufacturer device name ..............................................................................	12-5
Object 0x1009: Manufacturer hardware version......................................................................	12-6
Object 0x100A: Manufacturer software version ......................................................................	12-6
Object 0x100B: Node ID ..........................................................................................................	12-7
Object 0x1010: Save parameters ..............................................................................................	12-7
Object 0x1011: Restore parameters ..........................................................................................	12-8
Object 0x1012: COB-ID time stamp ........................................................................................	12-9
Object 0x1013: High-resolution time stamp...........................................................................	12-10
Object 0x1014: COB-ID emergency object.............................................................................	12-11
Object 0x1016: Consumer heartbeat time...............................................................................	12-12
Object 0x1017: Producer heartbeat time.................................................................................	12-13
Object 0x1018: Identity object ...............................................................................................	12-14
Object 0x1023: OS command and prompt..............................................................................	12-15
Object 0x1024: OS command mode........................................................................................	12-17
Object 0x1029: Error behavior ...............................................................................................	12-17
Object 0x1200: SDO server parameter...................................................................................	12-18
Objects 0x1400 - 0x1403: Receive PDO communication parameter ......................................	12-20
Objects 0x1800 - 0x1803: Transmit PDO communication parameter ...................................	12-23
Objects 0x1A00 - 0x1A03: Transmit PDO mapping.............................................................	12-25

Chapter 13: Manufacturer-specific Objects	....................................................................... 13-1
Object 0x2001: PVT data.........................................................................................................	13-1
Object 0x2002: PT data............................................................................................................	13-2
Object 0x2004: ECAM data .....................................................................................................	13-3
Object 0x2012: Binary interpreter input..................................................................................	13-4
Object 0x2013: Binary interpreter output................................................................................	13-4
Object 0x2030: Recorder data ..................................................................................................	13-5
Object 0x2040: Coordinate system group ID .........................................................................	13-10
Object 0x2041: Amplifier-free running timer ........................................................................	13-11
Object 0x2082: CAN controller status ...................................................................................	13-11
Object 0x208A: Begin time ....................................................................................................	13-13
Object 0x2090: Firmware download.......................................................................................	13-13

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Object 0x20A0: Auxiliary position actual value ....................................................................		13-14
Object 0x20A1: Main position error ......................................................................................		13-15
Object 0x2200: Digital input .................................................................................................		13-15
Object 0x2201: Digital input low byte ...................................................................................		13-16
Object 0x2205: Analog Input Object ...................................................................................		13-17
Then the reading obtained is:..............................................................................................		13-18
Object 0x2F00: User Integer ..................................................................................................		13-18
Object 0x2F01: User Float Array...........................................................................................		13-19
Object 0x2F02: ET Array......................................................................................................		13-20
Object 0x2F11: PVT head pointer ..........................................................................................		13-20
Object 0x2F12: PVT tail pointer............................................................................................		13-21
Object 0x2F15: Profile position remaining points ..................................................................		13-21
Object 0x2F21: Emergency events .........................................................................................		13-24
Object 0x2F22: Bus off time out.............................................................................................		13-29
Object 0x2F23: Digital input TPDO event parameters..........................................................		13-29
Object 0x2F30: Last time stamp correction ............................................................................		13-31
Object 0x2F31: Last SYNC time ............................................................................................		13-31
Object 0x2F40: Configuration object......................................................................................		13-32
Object 0x2F41: DS402 Configuration object..........................................................................		13-33
Object 0x2F60 – Zero torque threshold ..............................................................................		13-34
Object 0x2F70 – CAN Encoder Range ................................................................................		13-35
Chapter 14: Error Control Protocol .....................................................................................		14-1
Chapter 15: Downloading Firmware ..................................................................................		15-1
Chapter 16: Initial CAN Communication Setup...............................................................		16-1
16.1	Setup Using RS-232...................................................................................	16-1
16.2	Bootup Protocol .......................................................................................	16-2
Appendix A: Little and Big Endians ....................................................................................		A-1

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Chapter 1: Introduction

This manual explains how to implement CANopen DS 301 communication with Elmo’s SimplIQ DSP-based digital servo drives. It provides a description of SimplIQ drives and the means of implementing communication based on the CiA CANopen protocols.

Most SimplIQ functionality is standard, according to CiA documents DS 301, version 4.01, DSP 402 (proprietary) and the CiA OS interpreter. In this document, emphasis is placed on manufacturer-specific behaviors, although it also repeats certain CiA standard material, to enhance understanding and to complete certain descriptions. The manual does not contain all relevant CiA information, indicating that many objects are implemented, but are not documented herein. The user should therefore complement this manual with the CiA documents outlined in the following section.

1.1Relevant Documentation

1.1.1Elmo Documentation

This manual is part of the Elmo SimplIQ documentation set, as outlined in the following diagram:

CANopen Implementation Guide

SimplIQ Software Manual

SimplIQ Command Reference Manual

Programming

Composer User Manual

Setup

Cello Installation Guide

Installation Basssoon Installation Guide

Harmonica Installation Guide

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

The SimplIQ Installation Guide, which provides full instructions for installing the SimplIQ digital servo drives

The Composer User Manual, which includes explanations of all the software tools that are a part of Elmo’s Composer software environment

The SimplIQ Command Reference Manual, which describes, in detail, each software command used to manipulate the SimplIQ motion controller.

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 SimplIQ digital servo drives

1.1.2		CAN Documentation
	Document Name		Author	Source
	CAN Implementation Guidelines		Gruhler G. and Drier B.	STA Reutlingen
	CiA DS 301 V 4.01:			CiA
	CANopen Communication Profile for
	Industrial Systems - based on CAL
	CiA DS 302 V 3.0:			CiA
	CANopen Framework for Programmable
	Devices
	CiA DS 305 V 1.0:			CiA
	CANopen Layer Setting Services and
	Protocol (LSS)
	CiA DSP 402 V 2.0:			CiA
	CANopen Device Profile
	CiA DS 202-2 V 1.1:			CiA
	CAN Application Layer (CAL ) -
	CMS Protocol Specification

1.2Terms and Abbreviations

The following terms and abbreviations are used in this manual:

Term / Abbreviation	Definition
CAL	CAN application layer.
CAN client or master	A host — typically a PC — or other control equipment that
	supervises the nodes of a network.
CAN server or CAN	A node in the CAN network that can give service under control
slave	of the CAN master.
CMS	CAN message specification.
COB	Communication object; a CAN message.

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Term / Abbreviation	Definition
COB-ID	A binary bit-field that includes the ID of the server with which
	the master talks, and the type of COB.
EDS	Electronic data sheet; a standard form of all CAN objects
	supported by a device. The EDS is used by external CAN
	configurators.
ID	Identifier; the name by which a CAN device is addressed.
LSB	Least Significant Bit (or Byte)
LSS	Layer setting service: methods for configuring the ID and baud
	rate of a slave, using the standard DSP 305.
MSB	Most Significant Bit (or Byte)
Object	A CAN message with a meaningful functionality and/or data.
	Objects are referenced according to addresses in the object
	dictionary. DO: Data object.
OD	Object dictionary, which is the full set of objects supported by
	the node. It is the interface between the application and
	communication (see “Object” below.)
PLC	Programmable controller. A PLC can serve as a CAN master for
	SimplIQ digital servo drives.
Receive	In this manual, “received” data is sent from the control
	equipment to the servo drive.
Transmit	In this manual, “transmitted” data is sent from the servo drive to
	the other equipment.

Table 1-1: Terms and Abbreviations

1.3SimplIQ Communication

SimplIQ digital servo drives support two types of serial communication:

RS-232

CANopen

SimplIQ digital servo drives can simultaneously communicate using both CAN and RS232 communication lines, which are always open for communication. The communication parameters are set using the PP command.

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The following table compares the main features of both communication modes, as implemented with Elmo SimplIQ digital servo drives:

Features	CANopen	RS-232
Baud rate	50,000 - 1,000,000.	4800 - 57,600 (RS-232).
Interpreter method	Binary or ASCII.	ASCII.
Fast referencing	Yes, for PVT, PT and ECAM.	No.
Network of servo drives	Yes.	No.
Multiple servo drive	Yes.	No.
synchronization
Standardization	Compliant with CiA	No standard.
	standard.

Special equipment	CAN communication
required	interface (available as an
	add-on ISA or PCMCIA card
	for PCs) with appropriate
	software.

No: direct connection to serial port of PC.

Ease of use	Basic capabilities included in	Immediate: Just type
	Elmo Composer program.	command using

HyperTerminal or equivalent terminal software.

Table 1-2: SimplIQ Communication Types

RS-232 operation is fast and simple, requiring no detailed understanding of communication processes. CANopen communication achieves higher rates and is able to support the following advanced functions:

High speed online reference generation, required for supporting complex motions

Binary interpretation, which maximizes servo-drive command throughput by eliminating servo drive software overhead

Servo network applications

To benefit from CAN communication and the CiA DS 301 CANopen standard, the user must have a good understanding of the basic programming and timing issues of a CANopen network.

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Chapter 2: CANopen Basics

This chapter describes — in general — the CANopen communication features most relevant to Elmo SimplIQ servo drive. More detailed information is available in the specific CANopen documentation.

2.1Physical Layer

CAN is a serial communication standard in which the transferred data is coded as electrical pulses on a two-wire communication line. The device that handles the CAN physical layer is called the CAN controller. The device that transmits data over the CAN lines is called the CAN transceiver. SimplIQ digital servo drives use a CAN controller built into the drive DSP.

2.2Standard vs. Extended Addressing

Each CAN message frame includes an arbitration field that defines the type of data sent and its address. CAN version 2.0A supports 11 arbitration bits for this purpose; the seven least significant define the address and the four most significant define the type of message sent. Only 16 message types are supported. CAN version 2.0B supports 29 arbitration bits, of which the seven least significant define the address and 21 bits define the message type. In CiA DS 301, the arbitration bits indicate the object and the node-ID, together comprising the COB-ID.

CAN communication is prioritized so that messages with higher priority are transmitted first. The arbitration field determines the message priority: The lower the number in the arbitration field, the higher the message priority. ID 0 gives the highest priority. The SimplIQ drives support the CAN version 2.0A (11-bit) addressing method only, meaning that it ignores messages of 29 bits. A setup parameter (PP[13] - Node ID) selects the CAN object identification to be used.

2.3Client - Server Relations

A CAN master (or client) is a controller that makes requests to nodes to respond to its commands. A CAN slave (or server) responds to the commands issued by the CAN master. The CAN protocol permits both single-master and multiple-master networks.

The SimplIQ servo drives assume a single-master network arrangement, in which the servo drives are the slaves and the machine controller or PLC is the master. Every servo drive has a unique ID in the range [1…127]. The network master does not require an ID. As a slave, the servo drive never sends an unrequested message, other than emergencies. The drive responds only to messages addressed to its ID or to broadcast messages, which have an ID of 0. All messages sent by a servo drive are marked with its own ID.

If two servo drives have been assigned the same ID, the CAN network may crash.

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2.4Inhibit Times

The inhibit time for a given message type is the minimum time that must elapse from the time the message is first transmitted until the time that it may be transmitted again. The purpose of inhibit times is to ensure that high-priority messages do not flood the bus and thereby prevent service messages of lower priority from being transmitted. The inhibit times of SimplIQ drives are defined only for asynchronous transmit process data objects (TPDOs), by sub-index 3 of the associated transmission type object. The resolution of the inhibit time is 100 microseconds, with an accuracy of 2 milliseconds.

Note: If several events occur during the inhibit time of a message, only the last message will be transmitted when the inhibit time extinct. For example, if TPDO3 is activated by digital input 1 and digital input 3 with an inhibit time of 10 milliseconds, then if a digital input 1 event emits TPDO3 at time 0, a digital input 3 event occurring 5 milliseconds later will not cause any TPDO3 transmission for the next 5 millisecond. The TPDO3 transmission would be postponed, allowing other messages to be transmitted, until the inhibit time is exhausted.

The DS 301 version 4.0 protocol allows the user to modify the inhibit time only for COBs that are not valid (sub-index 1 of objects 0x1400 and 0x1800), while SimplIQ drives allow the user to modify the inhibit time at any time, with pending messages being discarded according to that time definition.

2.5RTR – Remote Transmission Request

The RTR is not supported by the Elmo drive.

2.6Object Dictionary

An object dictionary (OD) is a naming system that gives a unique identifier to each data item — or “object” —that is communicated over the CAN bus. An object is identified by an index and, if it is a complex object, also by a sub-index. A CANopen client can manipulate an object of a CANopen server by referring to its identifier, according to the access permission of the object. (An object’s access permission may be read-only, writeonly, or read-write.)

CiA DS 301 requires a set of mandatory objects for all CANopen devices. Other OD items are predefined by CiA DS 301 to have fixed identifiers, if supported. The OD also accommodates manufacturer-specific objects.

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2.7Communication Objects

The data-byte units transported through a CAN network are called communication objects (COBs). SimplIQ servo drive uses the following COB types:

COB Type	Description
Service data object (SDO)	SDO messages are used to manipulate OD objects
	according to their IDs. The server receives the SDO,
	which specifies in its message which object is to be
	dealt with.
	SDO messages can be chained to form a “domain
	transfer,” which is useful for sending large data items
	such as long strings. Domain transfers are time-
	consuming, because the CAN bus is half-duplex. Each
	time a data segment is downloaded, a full-sized data
	segment is uploaded for verification, and vice versa.
Process data object (PDO)	PDO messages are used to manipulate OD objects
	without explicit reference to the object identifier, which
	is possible if there is an a-priori convention concerning
	the OD item referenced. Such conventions are called
	“PDO mappings”; these are actually OD objects
	themselves, and may be defined and manipulated using
	an SDO.
Emergency (EMCY)	Emergency messages are used by the servo drives to
	warn of an exception. The EMCY is the only COB type
	that a servo drive may transmit without first being
	explicitly asked. EMCY objects are similar to servo
	drive “interrupts”: they eliminate the need to poll the
	servo drive continuously for the emergency status.
Network Management (NMT)	NMT objects are used by CAN clients to initialize a
	servo drive as a server.
Layer Setting Service (LSS)	This service is used to assign IDs and baud rates to
	newly-installed products.

Table 2-1: Communication Objects Used by SimplIQ Servo Drives

The type of COB transmitted is indicated in the arbitration field of the message, and thereby determines its priority. The relation between bits 8 to 11 of the arbitration field (COB-ID) and the COB type is presented in the following table:

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COB Type	Bits 8 - 11 of COB-ID	ID Range
NMT	0000	0
SYNC	0001	128 (80h)
Time Stamp	0010	256 (100h)
Emergency	0001	129…255 (81h…ffh)
PDO1 - Transmit	0011	385…511 (181h…1ffh)
PDO1 - Receive	0100	513…639 (201h…27fh)
PDO2 - Transmit	0101	641…767 (281h…2ffh)
PDO2 - Receive	0110	769…895 (301h…37fh)
PDO3 - Transmit	0111	897…1023 (381h…3ffh)
PDO3 - Receive	1000	1025…1151 (401h…47fh)
PDO4 - Transmit	1001	1153…1279 (481h…4ffh)
PDO4 - Receive	1010	1281…1407 (501h…57fh)
SDO - Transmit	1011	1409…1535 (581h…5ffh)
SDO - Receive	1100	1537…1663 (601h…67fh)
Error control (node guarding)	1110	1793…1919 (701h…77fh)
Table 2-2: COB Types

Example:

The COB-ID of PDO1, when received by node #2, is binary 01000000010, which is decimal 514, or 202 hexadecimal. The IDs of the servo drives are set in the range 1…127.

2.8Object Dictionary - Data Types

The Elmo CAN controller supports the following data types:

Index	Object	Name
0002	DEFTYPE	Integer8
0003	DEFTYPE	Integer16
0004	DEFTYPE	Integer32
0005	DEFTYPE	Unsigned8
0006	DEFTYPE	Unsigned16
0007	DEFTYPE	Unsigned32
0008	DEFTYPE	Floating Point (Float)
0009	DEFTYPE	Visible String
0020	DEFSTRUCT	PDO CommPar
0021	DEFSTRUCT	PDO Mapping

0022

DEFSTRUCT

SDO Parameter

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Index	Object	Name
0040	DEFTYPE	PVT DataPar
0041	DEFTYPE	PT DataPar
0042	DEFTYPE	Binary interpreter query
0043	DEFTYPE	Binary interpreter command
0044	DEFTYPE	DSP 402 PV data record
0081	DEFTYPE	DSP 402 interpolated data configuration record

Table 2-3: Data Types

Note: Data Objects 0002 to 0004 are used as map able “dummy” entries.

Communication Parameter Record Object 0x20
Index	Sub-index	Field in PDO Communication Parameter Record	Data Type
0020h	0h	Number of supported entries in record	UNSIGNED8
	1h	COB-ID	UNSIGNED32
	2h	Transmission type	UNSIGNED8
	3h	Inhibit time	UNSIGNED16
	4h	Reserved	UNSIGNED8
	5h	Event timer	UNSIGNED16
PDO Mapping Parameter Record Object 0x21
Index	Sub-index	Field in PDO Parameter Mapping Record	Data Type
0021h	0h	Number of mapped objects in PDO	UNSIGNED8
	1h	First object to be mapped	UNSIGNED32
	2h	Second object to be mapped	UNSIGNED32
…	…	…	…
	40h	64th object to be mapped	UNSIGNED32

The four device-specific data types used by SimplIQ digital servo drives are as follows:

PVT DataPar Object 0x40
MSB			LSB
Time (UNSIGNED8)	Velocity (SIGNED24)		Position (SIGNED32)
PT DataPar Object 0x41
MSB			LSB
Position 2 (SIGNED32)		Position 1 (SIGNED32)

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Binary Interpreter Query Object 0x42

MSB

LSB

7

6

5

4

3

2

1

0

Attribute

Attribute

Letter

Letter

high

low

low

high

For more information about the binary interpreter query, refer to Chapter 9.

Binary Interpreter Command Object 0x43

MSB

LSB

7

6

5

4

3

2

1

0

Data

Data

Data

Data

Attribute

Attribute

Letter

Letter

high

low

high

low

low

high

For more information about the binary interpreter command, refer to Chapter 9.

DSP 402 Interpolated Mode PV Object 0x44

MSB

LSB

Position 2 (SIGNED32)

Velocity (SIGNED32)

DSP 402 Interpolated Time Period Record Object 0x80

Index

Sub-index

Field in Interpolation Time Period Record

Data Type

0080h

0h

Number of entries

UNSIGNED8

1h

Interpolation time units

UNSIGNED8

2h

Interpolation time index

INTEGER8

DSP 402 Interpolated Data Configuration Record Object 0x81

Index

Sub-index

Field in Interpolation Time Period Record

Data Type

0081h

0h

Number of entries

UNSIGNED8

1h

Maximum buffer size

UNSIGNED32

2h

Actual buffer size

UNSIGNED32

3h

Buffer organization

UNSIGNED8

4h

Buffer position

UNSIGNED16

5h

Size of data record

UNSIGNED8

6h

Buffer clear

UNSIGNED8

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2.9Representation of Numbers

CAN communication delivers numerical data stored in binary form. Integers are stored by their binary representation, while floating-point numbers are stored according to the IEEE representation. SimplIQ digital servo drives support three types of data: short integers (two bytes), long integers (four bytes) and floating-point numbers (four bytes). These multiple-byte numbers are stored in the CAN messages according to CAN standards, using the “little endian” (Intel-type) convention. With this method, the number is inverted before storage: The most significant byte of the number receives the lowest address and the least significant byte receives the highest address. More information about the little endian method is provided in the Appendix of this manual.

Example:

The following is an 8-byte CAN message:

Bytes 0 - 1	0x1234
Bytes 2 - 3	0x5678
Bytes 4 - 7	0x9abcdef0

The CAN message data field will be as follows:

Byte	Contents
0	0x34
1	0x12
2	0x78
3	0x56
4	0xf0
5	0xde
6	0xbc
7	0x9a

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Chapter 3: The Object Dictionary

The object dictionary is essentially a grouping of objects that are accessible via receive and transmit SDOs. Part of the object can be mapped to transmit and receive PDOs (TPDO and RPDO, respectively) in a predefined manner.

The following layout is used with the objects in the object dictionary:

Index (Hex)		Object
0		Not used
0001	- 001F	Static data type
0020	- 003F	Complex data type
0040	- 005F	Manufacturer-specific data type
0060	- 0FFF	Reserved
1000	- 1FFF	Communication profile area
2000	- 2FFF	Manufacturer-specific profile area
6000	- 6FFF	Standardized device profile area
A000 - FFF		Reserved

The table that follows lists the objects supported by SimplIQ digital servo drives. Each object is addressed by a 16-bit index. Some of the objects may include 8-bit sub-indices, which are described in the object description. The object Name is that given by CiA or Elmo according to object type. Access can be R (read only), W (write only) or R/W (read/write). In the Can be Mapped column, N indicates that the object cannot be mapped to a PDO, while Y indicates that the object can be mapped to a PDO or that it is permanently mapped to a predefined PDO.

Name	Index	Description	Access	Mapped
CAN controller	0x1000	Device type and functionality. Constant	R	N
type		value = 0x12D.
Error register	0x1001	Contains error information.	R	N
Manufacturer	0x1002	Returns status similar to SR command.	R	Y
status register
Pre-defined error	0x1003	Returns previous emergency history.	R	N
field		Setting object 0x1003 sub-index 0 to 0
		deletes error history.
COB-ID for	0x1005	32-bit Dword, pre-defined.	R	N
SYNC message
Communication	0x1006	Spacing, in μsec, between consecutive	R/W	N
cycle period		SYNC signals. This parameter is included
		for compatibility with the standard OD, but
		it is ignored.

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Name	Index	Description	Access	Mapped
Manufacturer’s	0x1008	String that returns the drive name such as	R	N
device name		“Harmonica”
Hardware	0x1009	A string that conveys the information in	R	N
version		WS[30].
Software version	0x100A	String that returns value of VR command.	R	N
Node ID	0x100B		R	N
Store parameters	0x1010	Stores parameters in flash memory.	R/W	N
Restore	0x1011	Restore parameters from flash memory.	R/W	N
parameters
COB-ID for Time	0x1012	Specifies COB-ID of Time Stamp	R	N
Stamp message		message.
High-resolution	0x1013	Defines a Time Stamp message with a	R/W	N
Time Stamp		resolution of 1 μsec.
COB-ID of	0x1014	Defines COB-ID of the Emergency object	R	N
Emergency		(EMCY).
message
Consumer	0x1016	Defines minimal acceptance rate for	R/W	N
heartbeat time		heartbeat messages.
Producer	0x1017	Defines rate of generating heartbeats.	R/W	N
heartbeat time
LSS address	0x1018	Address for ID and baud rate	R	N
		configuration, according to DSP 305.
OS interpreter	0x1023	OS prompt interpreter.	R/W	N
OS command	0x1024	Mode command and status readout of OS	R/W	N
mode		interpreter.
Error behavior	0x1029	Defines behavior in a case of serious	R/W	N
		device failure, according to CiA
		DS 301.
SDO1 server	0x1200	SDO1: server parameter. (link)	R	N
PDO1 RX Comm.	0x1400	PDO1: receive communication parameter.	R/W	N
		(link)
PDO2 Rx Comm.	0x1401	PDO2: receive communication parameter.	R/W	N
PDO3 Rx Comm.	0x1402	PDO3: receive communication parameter.	R/W	N
PDO4 RX Comm.	0x1403	PDO4: receive communication parameter.	R/W	N
PDO1 Rx Map.	0x1600	PDO1: receive mapping parameter. (link)	R/W	N
PDO2 Rx Map.	0x1601	PDO2: receive mapping parameter.	R/W	N
PDO3 Rx Map.	0x1602	PDO3: receive mapping parameter.	R/W	N

PDO4 Rx Map. 0x1603 PDO4: receive mapping parameter. (link) R/W N

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	Name	Index	Description	Access	Mapped
	PDO1 Rx Comm.	0x1800	PDO1: transmit communication	R/W	N
			parameter.
	PDO2 Tx Comm.	0x1801	PDO2: transmit communication	R/W	N
			parameter.
	PDO3 Tx Comm.	0x1802	PDO3: transmit communication	R/W	N
			parameter.
	PDO4 Tx Comm.	0x1803	PDO4: transmit communication	R/W	N
			parameter.
	PDO1 Tx Map.	0x1A00	PDO1: transmit mapping parameter.	R/W	N
	PDO2 Tx Map.	0x1A01	PDO2: transmit mapping parameter.	R/W	N
	PDO3 Tx Map.	0x1A02	PDO3: transmit mapping parameter.	R/W	N
	PDO4 Tx Map	0x1A03	PDO4: transmit mapping parameter.	R/W	N
	PVT data	0x2001	Bytes describing PVT command.	W	Y
	PT data	0x2002	Bytes describing PT command.	W	Y
	Fast position	0x2003	Reserved for future real-time positioning
			modes.
	ECAM data	0x2004	Fast, auto-increment entry to ECAM	W	Y
			table.
	Binary interpreter	0x2012	Set binary interpreter command.	W	Y
	input
	Binary interpreter	0x2013	Get binary interpreter command.	R	Y
	output
	Recorded data	0x2030	Contains recorded data according to	R	N
	output		request in RC binary command.
	Group ID	0x2040	Identifier used to address a group of	R/W	N
			drives for coordinated commands.
	Amplifier free	0x2041	Transmits accurate 32-bit timer of drive.	R	Y
	running timer
	CAN controller	0x2082	CAN controller status register.	R	Y
	status
	Begin on time	0x208A	Used to start a synchronized motion	R/W	N
			according to internal free running timer.
	Firmware	0x2090	Similar to DF command.	W	N
	download
	Auxiliary	0x20A0	Actual position as taken from auxiliary	R	Y
	position actual		sensor input (PY).
	value
	Position error	0x20A1	Position error as calculated from	R	Y
			command and actual position value. (PE).

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Name	Index	Description	Access	Mapped
Digital input	0x2200	Reflects the digital input (IP)	R	Y
Digital inputs	0x2201	Reflected Negative limit switch, Positive	R	Y
low byte		limit switch and Home switch.
User Integer	0x2F00 Provides an array of 24 integer numbers		R	Y
		for general-purpose use.
User Float Array	0x2F01	Provides an array of 24 floating numbers	R/W	Y
		for general-purpose use.
ET Array	0x2F02 Enables ECAM table variables (ET[1] to		R/W	Y
		ET[255]) to be loaded.
PVT buffer head	0x2F11 PVT motion advance information.		R	Y
pointer
PVT buffer tail	0x2F12 PVT motion advance information.		R	Y
pointer
Buffered PTP	0x2F15 Used to detect number of remaining		R	Y
remained point		points in DSP 402 Profile Position
		buffered mode.
Asynchronous	0x2F20 Defines which events emit a PDO.		R/W	N
PDO event
Emergency event	0x2F21 Defines which events emit an emergency.		R/W	N
Bus-off timeout	0x2F22 Defines bus-off timeout, after which CAN		R/W	N
		communication will be renewed if SimplIQ
		enters bus-off.
Digital Input	0x2F23 Defines which digital input transmissions		R/W	N
TPDO Event		will activate a TPDO driven by a digital
Parameters		input event.
Last Time Stamp	0x2F30 Difference between last SYNC time and		R	Y
correction		last Time Stamp.
		Serves to estimate how accurately the
		internal amplifier's clock is locked on the
		master clock.
Internal µsec	0x2F31 Internal µsec counter of drive, sampled at		R	Y
counter at last		last SYNC. Useful when one drive is used
SYNC		to synchronize entire network.
Configuration	0x2F40 Configure functionality of the node.		R/W	N
object

Table 3-1: Object Dictionary

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Chapter 4: Service Data Objects (SDOs)

SimplIQ digital servo drives use a single transmit server SDO (COB 581h-6ffh) and a single receive server SDO (COB601h-67fh). This is according to CiA definitions and priority allocations for 11-bit addressing.

When using SDOs, it is important to remember that:

An SDO has a lower priority than a PDO.

An SDO session is not complete until it is confirmed.

For example, if an SDO is used to change a PDO mapping, the SDO should be issued only after the last session in which the PDO is completed, and the newly-mapped PDO should not be used until the SDO mapping change is confirmed.

SDOs implement the CMS multiplexed domain protocols.

Notes:

In an SDO data exchange, each client message may be backed by one and only one server message.

An SDO carries a toggle bit, which varies in every consecutive message of a domain transfer, so that the loss of a single message can be tracked.

An SDO transfer can be terminated using the special “Abort domain transfer” message.

An SDO message carries a maximum of seven bytes of data. One byte (the header byte) is always dedicated to overhead data.

The length of an SDO message is always eight bytes, even if some of them are unused. Unused data bytes are marked as such in the message header.

The maximum length of payload data in an expedited SDO is four bytes.

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4.1Initiate SDO Download Protocol

This protocol is used to implement the Initiate SDO Download service.

Client to server:
0					1	4	8
7…5	4		3…2	1	0
css = 1	x		n	e	s	m	d (data)
Server to client:
0					1	4	8
7…5	4…0
scs = 3	x					m	reserved
where:
css		Client command specifier
		1: Initiate download request
scs		Server command specifier
		3: Initiate download response

nNumber of bytes in d that do not contain data. Only valid if

e = 1 and s = 1; otherwise it is 0. Bytes [8-n, 7] do not contain data.

eTransfer type

0:Normal transfer

1:Expedited transfer

sSize indicator

0:Data set size is not indicated

1:Data set size is indicated

mMultiplexor. Represents index/sub-index of data to be transferred by SDO.

dData

e = 0, s = 0: d is reserved for future use.

e = 0, s = 1: d contains number of bytes to be downloaded. Byte 4 contains LSB and byte 7 contains MSB.

e = 1, s = 1: d contains data of length 4-n to be downloaded. The encoding depends on the type of data referenced by index and sub-index.

e = 1, s = 0: d contains an unspecified number of bytes to be downloaded.

x	Not used; always 0.
reserved	Reserved for future use; always 0.

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4.2Download SDO Protocol

This protocol is used to implement the Download SDO Segment service.

Client to server:
0				1	8
7…5	4		3…1	0
css = 0	t		n	c	seg-data (segment data)
Server to client:
0				1	8
7…5	4		3…0
scs = 1	t		x		reserved
where:
css		Client command specifier
		0: Download segment request
scs		Server command specifier
		1: Download segment response
seg-data		Maximum seven bytes of segment data downloaded. Encoding depends
		on type of data referenced by index and sub-index.

nNumber of bytes in seg-data that do not contain segment data. Bytes [8-n, 7] do not contain segment data. n = 0 if no segment size is indicated.

cWhether or not there are still more segments to be downloaded:

0:More segments to be downloaded

1:No more segments to be downloaded

tToggle bit, which alternates for each subsequent segment to be downloaded. First segment has toggle-bit set to 0. Toggle bit is equal for request and response message.

x	Not used; always 0.
reserved	Reserved for future use; always 0.

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4.3Initiate SDO Upload Protocol

This protocol is used to implement the Initiate SDO Download service.

Client to server:
0					1		4	8
7…5	4…0
css = 2	x					m		reserved
Server to client:
0					1		4	8
7…5	4		3…2	1	0
scs = 2	x		n	e	s	m		reserved
where:
css		Client command specifier
		2: Initiate upload request
scs		Server command specifier
		2: Initiate upload response

nNumber of bytes in d that do not contain data. Only valid if

e = 1 and s = 1; otherwise it is 0. Bytes [8-n, 7] do not contain segment data.

eTransfer type

0:Normal transfer

1:Expedited transfer

sSize indicator

0:Data set size is not indicated

1:Data set size is indicated

mMultiplexor. Represents index/sub-index of data to be transferred by SDO.

dData

e = 0, s = 0: d is reserved for future use.

e = 0, s = 1: d contains the number of bytes to be uploaded. Byte 4 contains LSB and byte 7 contains MSB.

e = 1, s = 1: d contains data of length 4-n to be downloaded. The encoding depends on the type of data referenced by index and sub-index.

e = 1, s = 0: d contains an unspecified number of bytes to be uploaded.

x	Not used; always 0.
reserved	Reserved for future use; always 0.

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4.4Upload SDO Segment Protocol

This protocol is used to implement the Upload SDO Segment service.

Client to server:
0				1		8
7…5	4		3…0
css = 3	t		x			reserved
Server to client:
0				1		8
7…5	4		3…1		0
scs = 0	t		n		c		seg-data
where:
css		Client command specifier
		3: Upload segment request
scs		Server command specifier
		0: Upload segment response

tToggle bit, which alternates for each subsequent segment to be uploaded. First segment has toggle-bit set to 0. Toggle bit is equal for request and response message.

cWhether or not there are still more segments to be uploaded:

0:More segments to be uploaded

1:No more segments to be uploaded

seg-data Maximum seven bytes of segment data uploaded. Encoding depends on type of data referenced by index and sub-index.

nNumber of bytes in seg-data that do not contain segment data. Bytes [8-n, 7] do not contain segment data. n = 0 if no segment size is indicated.

x	Not used; always 0.
reserved	Reserved for future use; always 0.

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4.5Abort SDO Transfer Protocol

This protocol is used to implement the Abort SDO Transfer service.

Client to server or server to client:
0	1		4	8
7…5	4…0
cs = 4	x	m		d (data)
where:
cs	Command specifier

4: Abort transfer request

xNot used; always 0.

m	Multiplexor. Represents index/sub-index of SDO.

dFour-byte abort code giving reason for abort, encoded as Unsigned32 value.

The SDO Abort codes are listed in the following table:

Abort Code		Description
0503	0000h	Toggle bit not alternated.
0504	0001h	Invalid or unknown client/server command specifier.
0504	0005h	Out of memory.
0601	0000h	Unsupported access to an object.
0601	0001h	Attempt to read a write-only object.
0601	0002h	Attempt to write a read-only object.
0602	000h	Object does not exist in object dictionary.
0604	0041h	Object cannot be mapped to PDO.
0604	0042h	Number and length of objects to be mapped exceeds PDO length.
0604	0043h	General parameter incompatibility.
0604	0047h	General internal incompatibility in device.
0606	0000h	Access failed due to hardware error.
0607	0010h	Data type does not match, length of service parameter does not match.
0607	0012h	Data type does not match, service parameter too long.
0607	0013h	Data type does not match, service parameter too short.
0609	0011h	Sub-index does not exist.
0609	0030h	Value range of parameter exceeded (only for write access).
0609	0031h	Value of parameter written too high.
0609	0032h	Value of parameter written too low.
0609	0036h	Maximum value is less than minimum value.
0800	0000h	General error.
0800	0020h	Data cannot be transferred to or stored in application.

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Abort Code	Description
0800 0021h	Data cannot be transferred to or stored in application due to local
	control.
0800 0022h	Data cannot be transferred to or stored in application due to present
	device state.
0800 0023h	Object dictionary dynamic generation failed or no object dictionary is
	present (for example, object dictionary is generated from file and
	generation has failed due to a file error).

Table 4-1: SDO Abort Codes

When the abort code is 0800 0000h, the actual error can be retrieved using the EC command.

4.6Uploading Data Using an SDO

Data is uploaded in two basic formats:

A short data item (up to four bytes) is uploaded by a single message conversation, called an expedited SDO.

Longer data items require a longer conversation and are called segmented transfers.

Example of an expedited SDO:

An SDO is used to read the number of SDOs supported by the servo drive. The result (one transmit SDO and one receive SDO) is in object 0x1000 in the OD and is formatted as the 32-bit word 0x00020192. The client message body is outlined in the following table (% indicates a binary number):

Byte	Value	Description	Comment
0	%01000000	Header	Leading %010 is client command specifier
			(ccs) for Initiate Domain Upload.
1	0x00	Index (LO)
2	0x10	Index (HI)	Use little endian.
3	0	Sub-index	No sub-index; therefore set to 0.
4 - 8	0	Reserved

Table 4-2: Expedited SDO - Client Message

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The server response is outlined in the following table:

Byte	Value	Description	Comment
0	%01000011	Header	Bits 7…5: %010 is client command specifier
			(css) for Initiate Domain Upload.
			Bits 3, 2: n bits that indicate that all data
			bytes are relevant.
			Bits 1, 0: %11, to expedite transfer and d
			contains information.
1	0x00	Index (LO)
2	0x10	Index (HI)	Use little endian.
3	0	Sub-index	No sub-index, so it is set to 0.
4	0x92	Data: 0x00020192 in
		little endian format

50x01

60x02

70

Table 4-3: Expedited SDO - Server Response

4.7Downloading Data Using an SDO

Data downloading with SDOs is very similar to data uploading. It can be handled in a single message conversation (expedited transfer) or in a segmented conversation. A detailed example of an expedited download transfer is given in section 5.3.6.

4.8Error Correction

Included in an SDO transaction are features that enable error detection and correction. Errors can be detected with both software and hardware. Hardware error conditions relate to overrun, excessive line noise, broken lines or other malfunctions of the physical layer. The toggle bit is used for software detection; it correlates each domain segment with its previous and next segments. An unexpected toggle bit signals an error.

An Elmo slave that receives a corrupted message always terminates the SDO sequence with an “Abort domain transfer” message, structured as follows:

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Byte	Description
0	0x80
1 – 2	Index
3	Sub-index
4	Additional code
5	Error code
6 – 7	Error class

Table 4-4: Abort Domain Transfer Message Structure

Fields 4 to 7 are described fully under “Abort SDO Transfer Protocol” in this manual.

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Chapter 5: Process Data Objects (PDOs)

5.1Receive PDOs

A Receive Process Data Objects (RPDO) is used to receive predefined and unconfirmed messages. An RPDO is received through use of an event, which may be asynchronous (such as “Message Received”) or synchronous with the reception of a SYNC. Four receive PDOs are used with the Elmo drive. The following must be indicated:

Objects that can be mapped and have write access can be mapped to each RPDO.

Execution of the mapped objects begins in the lower index of the relevant mapping object (0x1600 - 0x1603).

High-priority objects, used for high-speed motion modes, can be mapped to an RPDO to avoid the overhead in using the standard interpreter. This mapping is dynamic, according to the setting of the PDO mapping at index 0x1600 - 0x1603 by the appropriate SDO. In a drive, only one fast reference object can be mapped to a single RPDO. The fast reference objects that can be mapped to an RPDO are:

Index	Meaning	Access
2001h	PVT motion command	Write
2002h	PT motion command	Write
2003h	Reserved
2004h	ECAM entry	Write

All type of objects can be mapped. Unsigned8, Signed8, Unsigned16, signed16, Unsigned32, and SignedT32 can be mapped. Manufacture specific object such as Binary interpreter and PVT\PT can also be mapped.

RPDO1-4 can be freely mapped. The only constraints are that only one of the 0x2001

– 0x2004 objects can be mapped to an RPDO at a time, and that none of these objects can be mapped to more than one RPDO simultaneously.

Data of RPDOs mapped to objects 0x2001-0x2004 is processed immediately upon reception.

Data of RPDOs is queued and it is passed for interpretation and execution at the next available background loop (Idle Loop) and according to the transmission type.

The transmission type associated to the Rx mapping can be either synchronous where the data of the RPDO is passed for executing after the occurrence of the following SYNC (value =1), or asynchronous (value=255 or 254) in which the data of the RPDO is passed to the application immediately after reception and processed on the next Idle loop.

At most one copy of each mapped RPDO can be stored for synchronous execution. If same RPDO arrives before next SYNC, it overwrites the previous with no notification.