Elmo DSP 305 manual Introduction, 1.1Objectives of LSS, 1.2Abbreviations and Terms

CANopen DSP 305 Implementation Guide

MAN-CAN305IG (Ver. 1.1)

1-1

1 Introduction

This document describes the objects and operational modes of the Elmo DSP-based motion controller implementation of the CiA DSP 305 protocol. The Elmo Harmonica digital servo drive (part of the SimplIQ family of digital servo drives ) is used whenever examples are shown in this document.

Notes:

ƒThe DSP in CiA DSP 305 stands for Draft Standard Proposal.

ƒThe DSP in Elmo DSP-based motion controller stands for Digital Signal Processor.

With the DSP 305 Layer Setting Services and protocol, unconfigured devices in a network can be identified by their unique manufacturer, product, serial and revision number. After identification Bit Rate and Node ID can be configured for each device.

1.1Objectives of LSS

CiA DSP 305 CANopen Layer Setting Service and Protocol (LSS) services and protocols were created to enable the following parameters to be read and changed through the network:

ƒThe CANopen Node ID

ƒThe CAN baud rate

ƒThe LSS address

This increases the “plug–and-play” capabilities of devices on CANopen networks as pre- configuration of the network is less restrictive.

The LSS Master is responsible for configuring these parameters on one or more LSS Slaves on a CANopen network.

1.2Abbreviations and Terms

The following terms are used in this document:

COB	(Communication Object): A unit of transportation in a CAN network.
	Data must be send across a CAN network inside a COB. A COB can
	contain at most 8 bytes of data.
COB-ID	Each COB is uniquely indentified in a CAN network by a number called
	the COB Identifier (COB-ID). The COB-ID determines the priority of the
	COB for the MAX sub-layer.
Elmo Composer An Elmo software application used for controller setup, application
	downloading and monitoring.
Hexadecimal	Numbers marked with either “h” (such as 1000h) or “0x” (such as
	0x1000) refer to a hexadecimal value. Objects and numbers may appear
	in either form in different CAN documents