Elmo DSP 402 manual 1.2Abbreviations and Terms

CANopen DSP 402 Implementation Guide

MAN-CAN402IG (Ver. 1.2)

2

The purpose of the drive units is to connect axle controllers or other motion control products to the CAN bus. They usually receive configuration information via service data objects for I/O configurations, limit parameters for scaling, or application-specific parameters. At run time, data ban be obtained from the drive unit via the CAN bus either by polling or in event-driven mode (with properly-mapped TPDOs).

The motion control products use process-data object mapping for real-time operation, which may be configured using service data objects (SDOs). This communication channel is used to interchange real-time data-like set-points or actual values such as position actual values.

The most important part of a device profile is the object dictionary description. The object dictionary is essentially a grouping of objects accessible via the network in an ordered pre-defined fashion. The DSP 402 standard objects of single-axis drives, like the Harmonica, are all in the index range of 0x6000 to 0x67ff.

1.2Abbreviations and Terms

The following terms are used in this document:

abs/rel	Absolute and relative, which are indications of how to treat
	the position reference command in relation to the actual
	location.
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.
hm	Homing mode
ip	Interpolated position mode
Load position	What the position sensor measures, expressed in position
	units (in contrast to position sensor increments).
Non-volatile	The object data may be saved to the flash memory of a
	device using the SV command, or by setting object 0x1010
	(sub1).
Position sensor increments	Units measured by the load position sensor. The speed is
	derived from the position sensor.
pp	Profiled position mode
tq	Profiled torque mode
pv	Profiled velocity mode
Reference	Motion parameters can be specified in terms of
	meters/second for speed, or encoder counts for position.
rfg	The reference generator, which generates the trajectory for
	velocity mode only.