Elmomc CANopen DS 301 Implementation Guide Manuale Utente

Elmo Motion Control CANopen DS 301 Implementation Guide Ver. 2.1 – August 2008

Chapter 2: CANopen Basics This chapter describes — in general — the CANopen communication features most relevant to Elmo SimplIQ servo drive. More det

 Entry description: Sub-index 0 Description Number of sub-indices Entry category Mandatory Access Read only PDO mapping No Value range 4 Default

Sub-index 4 Description Events for PDO4 trigger Entry category Optional Access Read/Write PDO mapping No Value range 0…0x4FFFFFFF Default value 0

Notes:  A “CAN message lost” emergency may indicate an overrun, in which a CAN message has not been retrieved from the receiver on time. The next

Motor Fault Description Motor Fault Value (MF Command) Error Code Error Register Resolver or Analog Encoder feedback failed 1 0x7300 0x81 Res

Motor Fault Description Motor Fault Value (MF Command) Error Code Error Register Speed limit exceeded: VX < LL[2] or VX > HL[2] 0x20000

The following CAN emergencies are supported in PVT/PT modes: Error Code (Hex) Error Code (Dec) Reason Data Field 0x56 86 Queue is low. Number of

 Entry description: Access Read/Write PDO mapping No Value range No Default value 0xFF (all emergencies on) Object 0x2F22: Bus off time out This

The following table lists the values used to define the digital input transitions: DIN Mask Value DIN Logic Level for Activating an Event 0 No event

 Entry description: Access Read/Write PDO mapping No Value range 0x0FFF Default value 0x0FFF (event on every switch) Object 0x2F30: Last time st

 Object description: Index 2F31h Name Last SYNC time Object code VAR Data type UNSIGNED32 Category  Entry description: Access Read only PDO map

2.4 Inhibit 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

Object 0x2F41: DS402 Configuration object This bit field object gives several configuration options to the DS402 protocol. It resets to 0 after boot

Object 0x2F60 – Zero torque threshold In the DS402 profile torque, it is necessary to define a window around the target torque ‘0’, to obtain a good

• Entry description: Access Read/write PDO mapping No Value range UNSIGNED16 Default value No Note: In the situation where the torque command va

Sub-index 1 Description Low Limit Entry category Optional Access Read/write PDO mapping No Value range INTEGER32 Default value No Sub-index 2 Des

Chapter 14: Error Control Protocol For node guarding and life guarding, SimplIQ digital servo drives implement the heartbeat mechanism, as defined by

Chapter 15: Downloading Firmware New firmware versions can be loaded via CAN communications by writing the new firmware as S-records to object 0x2090.

Chapter 16: Initial CAN Communication Setup 16.1 Setup Using RS-232 All communication parameters — such as the CAN baud rate for the targets — are pr

16.2 Bootup Protocol This protocol is used to signal that an NMT slave has entered the pre-operational node state after the initializing state. The p

Appendix A: Little and Big Endians The “end” in “endians” refers to the address of the most significant or least significant byte in a multiple-byte d

2.7 Communication Objects The data-byte units transported through a CAN network are called communication objects (COBs). SimplIQ servo drive uses the

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 - Transmi

Index Object Name 0040 DEFTYPE PVT DataPar 0041 DEFTYPE PT DataPar 0042 DEFTYPE Binary interpreter query 0043 DEFTYPE Binary interpreter command

Binary Interpreter Query Object 0x42 MSB LSB 7 6 5 4 3 2 1 0 Attribute high Attribute low Letter low Letter high For more information ab

2.9 Representation of Numbers CAN communication delivers numerical data stored in binary form. Integers are stored by their binary representation, wh

Chapter 3: The Object Dictionary The object dictionary is essentially a grouping of objects that are accessible via receive and transmit SDOs. Part of

Name Index Description Access Mapped Manufacturer’s device name 0x1008 String that returns the drive name such as “Harmonica” R N Hardware version 0

Name Index Description Access Mapped PDO1 Rx Comm. 0x1800 PDO1: transmit communication parameter. R/W N PDO2 Tx Comm. 0x1801 PDO2: transmit commu

Important Notice This guide is delivered subject to the following conditions and restrictions:  This guide contains proprietary information belongin

Name Index Description Access Mapped Digital input 0x2200 Reflects the digital input (IP) R Y Digital inputs low byte 0x2201 Reflected Negative

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 (

4.1 Initiate SDO Download Protocol This protocol is used to implement the Initiate SDO Download service. Client to server: 0 1 4 8 7

4.2 Download 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

4.3 Initiate SDO Upload Protocol This protocol is used to implement the Initiate SDO Download service. Client to server: 0 1 4 8 7…5

4.4 Upload SDO Segment Protocol This protocol is used to implement the Upload SDO Segment service. Client to server: 0 1 8 7…5 4 3…

4.5 Abort SDO Transfer Protocol This protocol is used to implement the Abort SDO Transfer service. Client to server or server to client: 0 1

Abort Code Description 0800 0021h Data cannot be transferred to or stored in application due to local control. 0800 0022h Data cannot be transferre

The server response is outlined in the following table: Byte Value Description Comment 0 %01000011 Header Bits 7…5: %010 is client command specifie

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 Structur

Contents Chapter 1: Introduction ... 1-1 1.1 R

Chapter 5: Process Data Objects (PDOs) 5.1 Receive PDOs A Receive Process Data Objects (RPDO) is used to receive predefined and unconfirmed messages.

 A change in RPDO mapping wipes any pending synchronous or asynchronous queued RPDO s of that type. The user must be aware and responsible.  Chan

The SDO is answered by the following: Byte Value Description 0 0x67 Initiate download, expedited, index valid, data valid, no failure. 1 0 Index

5.3.1 The Mapping Trigger – Transmission Type The transmission of a TPDO and RPDO is triggered by an event, which is defined by the PDO communication

5.3.3 The Asynchronous Trigger Asynchronous triggers are defined in the device-specific protocol (such as DSP-402) or by the Elmo manufacture-specifi

Error code data fields: The relevant mapped object that failed according to the 32 bits mapping object. Byte 4-5: Object size, in bits Byte 6: Sub

5.3.6 Default Values Default values of PDO mapping parameters are used at:  Power up  NMT communication reset (NMT 82h)  NMT node reset (NMT 8

Receive PDO 2 is mapped to the binary interpreter by default. This is done for compatibility reasons and to enable communication with the Elmo Compose

Chapter 6: Emergency (EMCY) The Emergency object COB-ID is 0x81 to 0xFF. EMCY objects are fully defined in CiA DS 301. The structure of the manufact

The following table lists the supported CAN emergencies. The Emergency error code for all messages in the table is 0xFF00, and the error register is 0

Chapter 9: Binary Interpreter Commands ... 9-1 9.1 Binary Interpreter Command

Chapter 7: Network Management (NMT) Only the minimum, required, set of network management (NMT) services is supported by SimplIQ. NMT commands are use

The following NMT services are supported: Command Specifier Service 1 Start remote node (go to operational). 2 Stop remote node (go to prepared). 1

Chapter 8: SYNC and Time Stamp The SYNC message has two uses:  Synchronize the operation of synchronous PDOs. Only synchronous TPDOs can be used to

Chapter 9: Binary Interpreter Commands With CAN, the interpreter commands are sent in binary form and are used for setting and retrieving all numerica

If an interpreter command cannot be serviced for any reason, bit 6 in byte 3 of TPDO2 is set on, and byte 4 of the response contains the Elmo error co

Notes:  In array commands in which the index is used (as in ET[100]), the lowest significant bits are in byte 2 (bits 0 to 7) and the most signifi

Example 5: CA[18] = 4096 (1000h) (18 in decimal - 12h in hex) Byte 0 1 2 3 4 5 6 7 Hex value 43 41 12 0 0 10 0 0 Example 6: In this example, the s

Example: The server replies to the command CA[1]=4, which is out of range: error code 21 (15h). Byte 0 1 2 3 4 5 6 7 Hex value 43 41 01 40 15 0 0 0

9.2 ASCII Interpreter Commands not Supported by Binary Interpreter Commands that deal with strings are not accessible using the binary interpreter. In

Chapter 10: The OS Interpreter The OS interpreter is used to process any SimplIQ interpreter string command, and to return the string results. The onl

Object 0x20A0: Auxiliary position actual value ... 13-14 Object 0x20A1: Main position

Server acknowledges that the RSDO was received OK: TSDO 20 00 00 00 00 00 00 00 Client gets PX value from OS interpreter (assuming OS was alr

Chapter 11: The EDS The Electronic Data Sheet (EDS) assists CANopen configuration personnel in determining which objects a CAN slave supports. The EDS

Chapter 12: Communication Profile 1000h: Device type 1001h: Error register 1002h: Manufacturer status register 1003h: Predefined error field 1005h: C

 Entry description: Access Read only PDO mapping No Value range UNSIGNED32 Default value 0x191 Object 0x1001: Error register This object is an er

Object 0x1002: Manufacturer status register This object is a common status register for manufacturer-specific purposes. It returns the status similar

 Object description: Index 1003h Name Pre-defined error history Object code ARRAY Data type UNSIGNED32 Category Mandatory  Entry description: Su

 Description of SYNC COB-ID entry: Bit Number Value Meaning 31 (MSB) X Do not care 30 0 1 Device does not generate SYNC message Device generates

 Entry description: Access Read only PDO mapping No Value range Default value Object 0x1009: Manufacturer hardware version This object contains

 Entry description: Access Read only PDO mapping No Value range No Default value No Object 0x100B: Node ID This object contains the node ID of th

 Object description: Index 1010h Name Store parameters Object code RECORD Data type UNSIGNED32 Category Optional  Entry description: Sub-index 0

Chapter 1: Introduction This manual explains how to implement CANopen DS 301 communication with Elmo’s SimplIQ DSP-based digital servo drives. It pro

 Object description: Index 1011h Name Restore parameters Object code RECORD Data type UNSIGNED32 Category Optional  Entry description: Sub-index

Object description: Index 1012h Name COB-ID time stamp message Object code VAR Data type UNSIGNED32 Category Optional  Entry description: Access

Object 0x1014: COB-ID emergency object This object defines the COB-ID of the Emergency object (EMCY). The structure of the object is as follows: MSB

Object 0x1016: Consumer heartbeat time The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than the corres

Sub-index 1 Description Consumer heartbeat time Entry category Optional Access Read/Write PDO mapping No Value range UNSIGNED32 Default value No

Object 0x1018: Identity object This object stores the LSS address used for the CAN ID and baud rate setting.  Object description: Index 1018h Name I

Sub-index 3 Description Revision number Entry category Mandatory Access Read only PDO mapping No Value range UNSIGNED32 Default value No Sub-inde

 Entry description: Sub-index 0 Description Number of entries Entry category Optional Access Read only PDO mapping No Value range UNSIGNED8 Defau

Object 0x1024: OS command mode This object is used with the OS interpreter (see Chapter 10).  Object description: Index 1024h Name OS command mode

 Entry description: Sub-index 0 Description Number of error classes Entry category Mandatory Access Read only PDO mapping No Value range 1 to 0x

In addition to this document, the SimplIQ documentation set includes:  The SimplIQ Installation Guide, which provides full instructions for installi

An SDO is valid only if both SDO valid bits are 0. These objects contain the parameters for which the SDO is the server. This entry is read only.2 COB

Objects 0x1400 - 0x1403: Receive PDO communication parameter  Object description: Index 1400h - 1403h Name Receive PDO Parameter Object code RECOR

Notes:  Transmission type may be 255, 254 or 1. On an attempt to change the value of the transmission type to a value that is not supported by the

 Object description: Index 1600h - 1603h Name Receive PDO Mapping Object code RECORD Data type PDO Mapping Category Conditional: mandatory for e

Objects 0x1800 - 0x1803: Transmit PDO communication parameter  Object description: Index 1800h - 1803h Name Transmit PDO parameter Object code RECO

Sub-index 2 Description Transmission type Entry category Optional Access Object 1800h: Read/Write Object 1801h: Read/Write Object 1802h: Read/Write

 COB ID used by PDO Only the default COB and specific Node ID can be written to the drive. An attempt to write another COB ID will result in an abo

Sub-index 1 - 8 Description PDO mapping for nth application object to be mapped Entry category Optional Access Object 1A00h: Read/Write Object 1A01h

Chapter 13: Manufacturer-specific Objects 2001h: PVT data 2002h: PT data 2004h: ECAM data 2012h: Binary interpreter input 2013h: Binary interpreter ou

 Entry description: Access Write only PDO mapping Yes Value range No Default value No Notes:  The transmission type for mapping this object m

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 E

Notes:  The transmission type for mapping this object must be 255; otherwise, an Abort message (code 0604 0043h) will be transmitted.  When this

Object 0x2012: Binary interpreter input This object is a binary interpreter object (refer to Chapter 9 concerning the byte stream).  Object descript

Object 0x2030: Recorder data This object is used to retrieve recorder parameters according to RC and the sub-index field. The 0x1 sub-index fetches th

Sub-index 3 Description Position command Entry category Mandatory Access Read only PDO mapping No Value range Refer to Table 13-1 Default value

Sub-index 7 Description Bus voltage Entry category Mandatory Access Read only PDO mapping No Value range Refer to Table 13-1 Default value Sub-i

Sub-index 0B Description Reactive current Entry category Mandatory Access Read only PDO mapping No Value range Refer to Table 13-1 Default value

Sub-index 0F Description Current phase B (IB value) Entry category Mandatory Access Read only PDO mapping No Value range Refer to Table 13-1. Defa

The header byte sequence is as follows: Byte Number Description Value Type 0 - 1 Variable type for user. Field has no practical significance. 0: I

 Entry description: Access Read/Write PDO mapping No Value range No Default value 128 Object 0x2041: Amplifier-free running timer This object tr

 Entry description: Access Read only PDO mapping Yes Value range No Default value No  Byte stream: The 32-bit number has the following structu

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

Note: Network states 1 & 4 (disconnect & stop, respectively) can not be retrieved using the CAN controller status object, since neither the PD

Default value No After the final character of each S-record line, the host must send the character 0x0A to indicate end-of-line. The next S-record ca

Object 0x20A1: Main position error This object returns the error between the position command and the actual position (PE).  Object description: Ind

Object 0x2201: Digital input low byte This object defines simple digital inputs for drives. The reflected functions are: o Negative limit switch –

Object 0x2205: Analog Input Object This object returns the value of the analog inputs 1 and 2 in internal units. The value can be converted to phys

Default value - Example: Host sends SDO request for analog input 2: Byte 0 1 2 3 4 5 6 7 Hex value 40 05 22 02 00 00 00 00 Assume that the drive ans

Sub-index 1-24 Description User Array Entry category Optional Access Read/write PDO mapping Yes Value range [(–230 +1)…(230 –1)] Default value 0

Object 0x2F02: ET Array This object enables ECAM table variables (ET[1] to ET[255]) to be loaded.  Object description: Index 2F02h Name ET Array

 Entry description: Access Read only PDO mapping Yes Value range No Default value No Object 0x2F12: PVT tail pointer This object informs the host

 Entry description: Access Read only PDO mapping Yes Value range 0…32 Default value 0 Object 0x2F20: PDO events This object is used to select th