Instruction/ maintenance manual of the product DSP 305 Elmo
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Elmo Motion Control CANopen DSP 305 Implementation Guide Version 1.1- April 2006.
Important Notice This guide is delive red subject to the following condi tions and restri ctions: This guide con tains prop rietary inf ormation be longing to Elm o Motion C ontrol Ltd. Such informati on is supp lied solely f or the purp ose of assis ting users of SimplIQ servo drives in implementing CANopen n etworking.
Contents 1 Introduction ................................................................................................................ 1-1 1.1 Obje ctives of LSS .......................................................................................
1 Introduction This docume nt describes the objects and oper ational modes of the Elm o DSP-based motion control ler implement ation of t he CiA DSP 305 protocol. The Elmo Harmon ica digital servo drive (part of the SimplIQ family of digital servo dr ives ) is used whenev er examples ar e shown in this docum ent.
LMT (Layer Man agement): Functions to inquire and ch ange the settings o f certain parame ters of the local la yers on a CAL module. LSS (Layer Setting Se rvices): Func tions to inquire and change the settings of certain parame ters of the local la ye rs on a CANopen network.
1.5 Elmo Documentation This manual – included in the Elmo CANopen Im plementation Guide – is part of the Elmo SimplIQ digital servo drive do cumentatio n set, as outlined in the followin g diagram.
2 LSS Modes Devices t hat comm unicate with t he LSS protoco l can be in on e of two m odes, ‘ Configura tion Mode ’ and ‘ Opera tion Mode ’. Any device on the ne twork that is not in ‘Config u ration Mo de’ is in ‘O peration Mode’. I n ‘Configuration Mode ’ all LSS services are avail able.
3 LSS Services LSS services can be functionally gr ouped into four categ ories: Switch Mode Services provide a wa y to logically connect the LSS Mast er and LSS Slave(s) for configuration pu rpos es. They change the LSS mode attribute of the L SS Slave (see the Figure 3-1 ).
The protocols described below all h ave the same structure: a sp ecific sequence of COBs are exch anged between the LSS Master an d LSS Slave for a particular LSS service. Requesti ng Messages use COB-ID 7E5h while Response Messag es use COB-ID 7E4h. LSS uses Command Specifiers (CS) to identify the commands .
3.2.2 Switch Mode Selective This service is used to switch a specific LSS Slav e device to configuration mode. l sb Vendor-I D m sb 64 re s e rv e d fo r fu tu re u se b y C iA 012345678 CO B-I D = 7E.
3.3 Configuration Services Configuration serv ices are avail able only in configuration mode. So me of the servic es are only avai lable to one LSS Slave device . 3.3.1 Configuration Node-ID This service enab les the LSS Master to configure t he NMT-address of an LSS Slave.
3.3.2 Configuration Bit Timing Parameters The LSS Master’s Configur e Bit Timing Parameters service sets new bit ti ming on an LSS Slave . The bit timin g parameter s for different ba ud rates are sp ecified in th e Bit Timing Parameter Table below.
3: out of range 3.3.3 Activate Bit Timing Parameters The LSS Maste r's Activa te Bit Timin g Parameters se rvice activat es the bit timi ng as defined by the Configure Bit Timin g Parameters se rvice.
d1 d2 d1 d2 d1 d2 p2 p2 LMT Master LMT Slave 1 LMT Slave 2 c c: initiation of command p1, p2: individual processing delay d1: duration of first switch_delay period d2: duration of second switch_delay period ******** : node may be transmitting ******** ******** t t t Figure 3-13 Switch_Delay Periods 3.
If erro r_code is 2 55, then a specific_error_code will be: 2: incorrect mode no other options at this time 3.4 Inquiry Services The inquiry services are availabl e only in configuration mode. 3.4.1 Inquire LSS Address This service fi nds the LSS- address of a Slave in con figuration mo de.
Inquire Revision-Number Protocol 92 re se rve d fo r fu ture u s e by C iA 12345678 CO B-ID = 7E5h CS Figure 3-20 Inquire Revision-Number 92 Revisi on-Num ber re s e rv e d fo r fu tu r e u s e b y C .
94 ## res e rve d for futu re u se by C iA 012345678 CO B-I D = 7E4h CS NI D Figure 3-25 Confirm Node-ID If the Node-ID was recently changed wi th a Configure Node-ID command, the original Node-ID will continue to be ret u rned unt il the next power on res et.
Revision-Number-Low: The lower boundary of the requested re vision nu mbers range . The Minor range must be set to 0000h. l sb Revisi on-Num ber- High msb 73 r e s er ve d fo r fu tu re u s e b y C iA.
79 res e rve d for futu re us e by C iA 12345678 COB- ID = 7E4h CS 0 Figure 3-32 Slave Serial-Number Confirmation 3.5.3 Example If the Master knows tha t there are several node s of the same LSS type .
4 Implementation Rules When implementin g the LSS protocols, the f ollowing rules must be followe d to guarantee i nteroperability: CAL Layer Managemen t (LMT) To distinguish between LMT and LSS, all LSS services must us e command specifiers in the 040h – 07fh range.
An important point after buying a device Elmo DSP 305 (or even before the purchase) is to read its user manual. We should do this for several simple reasons:
If you have not bought Elmo DSP 305 yet, this is a good time to familiarize yourself with the basic data on the product. First of all view first pages of the manual, you can find above. You should find there the most important technical data Elmo DSP 305 - thus you can check whether the hardware meets your expectations. When delving into next pages of the user manual, Elmo DSP 305 you will learn all the available features of the product, as well as information on its operation. The information that you get Elmo DSP 305 will certainly help you make a decision on the purchase.
If you already are a holder of Elmo DSP 305, but have not read the manual yet, you should do it for the reasons described above. You will learn then if you properly used the available features, and whether you have not made any mistakes, which can shorten the lifetime Elmo DSP 305.
However, one of the most important roles played by the user manual is to help in solving problems with Elmo DSP 305. Almost always you will find there Troubleshooting, which are the most frequently occurring failures and malfunctions of the device Elmo DSP 305 along with tips on how to solve them. Even if you fail to solve the problem, the manual will show you a further procedure – contact to the customer service center or the nearest service center
