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DSP 305 manual Elmo Motion Control CANopen DSP, Implementation Guide, Version 1.1- April
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DSP 305
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Error messages
2.1Configuration and the Operation Modes
Power-on Reset
switch delay
3.2Switch Mode Services
3.2.2Switch Mode Selective
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Elmo Motion Control
CANopen DSP 305
Implementation Guide
Version 1.1- April 2006
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Contents
Implementation Guide
Elmo Motion Control CANopen DSP
Version 1.1- April
Ver
Important Notice
Revision History
Ver
LSS Services
Contents
Introduction
LSS Modes
1.1Objectives of LSS
1 Introduction
1.2Abbreviations and Terms
1.4LSS Operating Restrictions
1.3LSS Hardware Restrictions LSS Address
1.5Elmo Documentation
Configuration Mode
2.1Configuration and the Operation Modes
2 LSS Modes
Operation Mode
Figure 3-1LSS Slave Modes and Switching Services
3 LSS Services
3.1LSS Master-SlaveSynchronization & Protocol
Configuration Mode
3.2.1Switch Mode Global
3.2Switch Mode Services
Figure 3-2Switch all Slaves to Operation Mode
Figure 3-3Switch all Slaves to Configuration Mode
COB-ID= 7E5h
3.2.2Switch Mode Selective
COB-ID= 7E5h
COB-ID= 7E5h
3.3.1Configuration Node-ID
3.3Configuration Services
Figure 3-8Switch the Node-IDof a Slave
Error Codes
Table Selector Table Table Selection
3.3.2Configuration Bit Timing Parameters
Standard CiA Bit Timing Table
Table Index
3.3.3Activate Bit Timing Parameters
switch delay
Figure 3-12Activate Bit Timing Parameters
COB-ID= 7E5h
Figure 3-13Switch Delay Periods
3.3.4Store Configuration Parameters
Figure 3-14Store Configuration Parameters
Figure 3-15Confirm Configuration Parameters
3.4.1Inquire LSS Address
3.4Inquiry Services
Inquire Vendor-IDProtocol
Figure 3-17Confirm Vendor-ID
Inquire Revision-NumberProtocol
3.4.2Inquire Node-ID
Figure 3-20Inquire Revision-Number
Figure 3-21Confirm Revision-Number
3.5.1LSS Identify Remote Slaves
3.5Identification Services
Figure 3-25Confirm Node-ID
Figure 3-26Slave Vendor-IDInquiry
Revision-Number-Low
3.5.2LSS Identify Slave Protocol
Figure 3-29Slave Revision Number Inquiry
Revision-Number-High
Figure 3-32Slave Serial-NumberConfirmation
3.5.3Example
COB-ID= 7E4h
COB-ID= 7E5h
CAL Layer Management LMT
4 Implementation Rules
Invalid COBs
Time-Outs
