Elmomc CANopen DSP 305 Implementation Guide Manuale Utente Pagina 1

Elmo Motion Control CANopen DSP 305 Implementation Guide Version 1.1- April 2006

3.2.2 Switch Mode Selective This service is used to switch a specific LSS Slave device to configuration mode. lsb Vendor-ID msb64 reserved for fut

3.3 Configuration Services Configuration services are available only in configuration mode. Some of the services are only available to one LSS Slave

3.3.2 Configuration Bit Timing Parameters The LSS Master’s Configure Bit Timing Parameters service sets new bit timing on an LSS Slave. The bit timin

3: out of range 3.3.3 Activate Bit Timing Parameters The LSS Master's Activate Bit Timing Parameters service activates the bit timing as d

d1 d2d1 d2d1 d2p2p2LMT MasterLMT Slave 1LMT Slave 2c c: initiation of command p1, p2: individual processing delay d1: duration of first switch_dela

If error_code is 255, then a specific_error_code will be: 2: incorrect mode no other options at this time 3.4 Inquiry Services The inquiry ser

Inquire Revision-Number Protocol 92 reserved for future use by CiA12345678COB-ID = 7E5hCS Figure 3-20 Inquire Revision-Number 92 Revision-Number re

94 ## reserved for future use by CiA012345678COB-ID = 7E4hCS NID Figure 3-25 Confirm Node-ID If the Node-ID was recently changed with a Configure

Revision-Number-Low: The lower boundary of the requested revision numbers range. The Minor range must be set to 0000h. lsb Revision-Number-High ms

79 reserved for future use by CiA12345678COB-ID = 7E4hCS0 Figure 3-32 Slave Serial-Number Confirmation 3.5.3 Example If the Master knows that there

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

4 Implementation Rules When implementing the LSS protocols, the following rules must be followed to guarantee interoperability: CAL Layer Managemen

Contents 1 Introduction ... 1-1 1.1 Ob

1 Introduction This document describes the objects and operational modes of the Elmo DSP-based motion controller implementation of the CiA DSP 305

LMT (Layer Management): Functions to inquire and change the settings of certain parameters of the local layers on a CAL module. LSS (Layer Setting

1.5 Elmo Documentation This manual – included in the Elmo CANopen Implementation Guide – is part of the Elmo SimplIQ digital servo drive documentatio

2 LSS Modes Devices that communicate with the LSS protocol can be in one of two modes, ‘Configuration Mode’ and ‘Operation Mode’. Any device on t

3 LSS Services LSS services can be functionally grouped into four categories:  Switch Mode Services provide a way to logically connect the LSS M

The protocols described below all have the same structure: a specific sequence of COBs are exchanged between the LSS Master and LSS Slave for a partic