Elmo DSP 402 - Manuals

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 ob...

1.3 Elmo Documentation This manual – included in the Elmo CANopen Implementation Guide – is part of the Elmo SimplIQ digital servo drive documentation set, as outlined in the following diagram: SimplIQ Servo Drive Installation Guides Programming Setup Installation Composer User Manual CANopen Implem...

2: The DSP 402 Object Dictionary This section describes the objects related to the DSP 402 device specific functionality. For more information about the object dictionary, refer to the Elmo SimplIQ CANopen DS 301 Implementation Guide. Name Index Description Access Mappable? Abort connection option c...

Name Index Description Access Mappable? Homing offset 0x607C Defines offset from homing zero position to application zero position. R/W N Software position limit 0x607D Defines limits for demand position value and actual position value. R/W N Polarity 0x607E Sets polarity for position or speed comma...

Name Index Description Access Mappable? Motor type 0x6402 R/W N Motor catalog number 0x6403 32 characters. R/W N Motor manufacturer 0x6404 32 characters. R/W N http motor catalog address 0x6405 R/W N Motor calibration date 0x6406 R/W N Motor service period 0x6407 R/W N Driver modes 0x6502 R/W N Driv...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 10 Transmit PDO 1 monitors the drive behavior by transmitting the statusword whenever it changes (typically after reception of a controlword) : Index Sub-index Name Default Value 1800h 0 Number of entries 3 1 COB-ID used by PDO 400001FFh 2...

5: Common Entries 5.1 Drive Error The drive functionality in case of an error is determined using the following objects: 6007h: defined according to the SimplIQ CANopen Implementation Manual. 603Fh: reflects the 16 lower bits of object 0x1003, which, together with this object, get the emergency valu...

Object 0x603F: Error code This object captures the code of the last error that occurred in the drive. It corresponds to the value of the lower 16 bits of object 1003h, pre-defined error field . Object description: Index 603Fh Name Error code Object code VAR Data type UNSIGNED16 Category Optional Ent...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 14 This object contains information for the user only and does not convey the value of the CA[28] command at the calibration procedure of a drive. Object description: Index 6402h Name Motor type Object code VAR Data type UNSIGNED16 Categor...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 15 Object 0x6404: Motor manufacturer This object gives the motor manufacturer’s name. The maximum length of this object is 32 characters. Object description: Index 6404h Name Motor manufacturer Object code VAR Data type VISIBLE_STRING Cate...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 16 Object 0x6407: Motor service periods Value, in hours, of the nominal motor lifetime. The motor needs servicing after this time. Object description: Index 6407h Name Motor service period Object code VAR Data type UNSIGNED32 Category Opti...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 17 Object 0x6502: Supported drive mode s Object description: Index 6502h Name Supported drive modes Object code VAR Data type UNSIGNED32 Category Optional Entry description: Access Read only PDO mapping No Value range UNSIGNED32 Default va...

Object 0x6505: http drive catalog address This object gives the Internet address of the drive manufacturer. Object description: Index 6505h Name http drive catalog address Object code VAR Data type VISIBLE_STRING Category Optional Entry description: Access Read only PDO mapping No Value range Defaul...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 19 Data description: 31 22 21 16 15 4 3 2 1 0 Manufacturer specific Digital input 1…10 logic state Reserved Interlock Home switch Positive limit switch Negative limit switch MSB The switch must be “active high.” Notes: The interlock is alw...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 20 6: Device Control 6.1 Objects 6040h: controlword 6041h: statusword The Device Control function block controls all functions of the device, categorized as: Device control of the state machine Operation mode functions The state of the dev...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 21 States may be changed using the controlword and/or according to internal events. The current state can be read using the statusword . Figure 6-2: State Machine in System Context The device states and possible control sequence of the dri...

Drive States The following states of the device are possible: * NOT READY TO SWITCH ON: Low-level power (24V) has been applied to the drive. The drive is being initialized and is running the self test. A brake output, if present, is applied in this state. The drive function is disabled. This state i...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 23 * QUICK STOP ACTIVE: The drive parameters may be changed. The quick stop function is being executed. The drive function is enabled and power is applied to the motor. According to the quick stop option code, the drive stops the motion an...

State Transition 4: SWITCHED ON => OPERATION ENABLE Event: Enable Operation command received from host. Action: The drive function is enabled. State Transition 5: OPERATION ENABLE => SWITCHED ON Event: Disable Operation command received fro Action: The drive operation is disabled. m host. er s...

After leaving FAULT state, the Fault Reset bit of the controlword must be cleared by the host. The drive does not monitor this bit in other states. If this bit is not cleared from a previous fault stdrive automatically enters SWITCH ON DISABLED state with no indications ate, when the next fault occu...

Data description: 15 11 10 9 8 7 6 4 3 2 1 0 Manufacturer specific Reserved Halt Fault reset Operation mode specific Enable operation Quick stop Enable voltage Switch on O O O M O M M M M MSB LSB O: Optional M: Mandatory Bits 0 – 3 and 7: Device control commands are triggered by the following bit pa...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 28 Bits 4, 5, 6 and 8: These bits are operation-mode specific. Their description is found in the chapter about the special mode. Operation Mode Bit Velocity Mode Profile Position Mode Profile Velocity Mode Profile Torque Mode Homing Mode I...

Bit 4: Voltage Enabled: High voltage is applied to the drive when this bit is set to 1. Bit 5: Quick Stop: When reset, this bit indicates that the drive is reacting to a Quick Stop request. Bits 0, 1 and 2 of the statusword must be set to 1 to indicate that the drive is capable of regenerating. The ...

Not all modes mentioned in the table are implemented in Elmo servo drives. Bits 14 and 15: These bits are reserved. They are not used and are set to 0. and Fault Objects ode de uick stop ramp – SD value Disable drive – MO=0 Quick stop option code nes which action should be taken if the Quick Stop fu...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 32 Data description: Value Description -32,768…-1 Manufacturer specific 0 Disable drive function 1 Slow down on slow-down ramp and then disable the drive 2 Slow down on quick-stop ramp and then disable the drive 3 Slow down on current limi...

Object 0x605D: Halt option code This parameter determines which action should be taken if bit 8 (halt) in the controlword is active. Object description: Index 605Dh Name Halt option code Object code VAR Data type INTEGER16 Category Optional Entry description: Access Read/write PDO mapping No Value r...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 35 Object 0x605E: Fault reaction option code Object description: Index 605Eh Name Fault reaction option code Object code VAR Data type INTEGER16 Category Optional Entry description: Access Read/write PDO mapping No Value range INTEGER16 De...

7: Modes of Operation 6060h: Modes of operation 6061h: Modes of operation display 7.1 Functional Description The drive behavior depends on the activated modes of operation. Different modes can be implemented, although not in parallel. Therefore, the user must activate the required function by select...

Data description: Value Description -128…-2 Reserved -1 No mode 0 Reserved 1 Profile position mode 2 Velocity (not supported) 3 Profiled velocity mode 4 Torque profiled mode 5 Reserved 6 Homing mode 7 Interpolated position mode 8…127 Reserved Notes: A read of this object shows only the value of mode...

8: Factors 607Eh: Polarity 6089h: Position notation index 608Ah: Position dimension index 608Bh: Velocity notation index 608Ch: Velocity dimension index 608Dh: Acceleration notation inde x 608Eh: Acceleration dimension index 608Fh: Position encoder resolution 6090h: Velocity encoder resolution 6093h...

8.3 Objects Object 0x607E: Polarity Position demand value and position actual value are multiplied by 1 or -1, depending on the value of the polarity flag. Object description: Index 607Eh Name Polarity Object code VAR Data type UNSIGNED8 Category Optional Entry description: Access Read/write PDO map...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 40 Object 0x6089: Position notation index This index is used to scale position objects. The unit is defined by the physical dimensions and calculated by unit type and exponent, declared in the dimension/ notation index tables (refer to App...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 41 Entry description: Access Read/write PDO mapping No Value range UNSIGNED8 Default value — Object 0x608B: Velocity notation index This object defines the velocity notation index. The unit is defined by the physical dimensions and calcula...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 42 Object 0x608C: Velocity dimension index This object defines the velocity dimension index, which is used together with the velocity notation index (object 0x608B) to define a unit (refer to Appendix A and Appendix B ). Notes: The Elmo dr...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 43 Entry description: Access Read/write PDO mapping No Value range INTEGER8 Default value — Object 0x608E: Acceleration dimension index This object defines the acceleration dimension index, which is used together with the acceleration nota...

Object 0x608F: Position encoder resolution This object defines the ratio of encoder increments per motor revolution: resolution encoder position _ _ = s revolution motor increments encoder _ _ Object description: Index 608Fh Name Position encoder resolution Object code ARRAY Data type UNSIGNED32 Cat...

Object 0x6090: Velocity encoder resolution This object defines the ratio of encoder increments/second per motor revolutions/ second. resolution encoder velocity _ _ = sec / _ sec / _ s revolution motor increments encoder Object description: Index 6090h Name Velocity encoder resolution Object code AR...

Object 0x6093: Position factor This object converts the desired position (in position units) into the internal format (in increments). The object entries are the numerator and the divisor. Object description: Index 6093h Name Position factor Object code ARRAY Data type UNSIGNED32 Category Optional E...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 47 Notes: The position factor is calculated according to this object regardless of the setting of any other objects, such as 0x608F ( position encoder resolution ). The actual value range of the divisor may not exceed 16,383 due to numeric...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 48 Sub-index 2 Description Divisor Entry category Optional Access Read/write PDO mapping No Value range UNSIGNED32 Default value 1 Notes: The position factor is calculated according to this object regardless of the setting of any other obj...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 49 Sub-index 1 Description Numerator Entry category Optional Access Read/write PDO mapping No Value range UNSIGNED32 Default value 1 Sub-index 2 Description Divisor Entry category Optional Access Read/write PDO mapping No Value range UNSIG...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 50 Entry description: Sub-index 0 Description Number of entries Entry category Mandatory Access Read only PDO mapping No Value range 2 Default value 2 Sub-index 1 Description Numerator Entry category Optional Access Read/write PDO mapping ...

Object 0x6097: Acceleration factor This object converts the acceleration (in acceleration units/second 2 ) into the internal format (in increments/second 2 ). Object description: Index 6097h Name Acceleration factor Object code ARRAY Data type UNSIGNED32 Category Optional Entry description: Sub-inde...

9: Homing 607Ch: Home offset 6098h: Homing method 6099h: Homing speeds 609Ah: Homing acceleration 9.1 General Information This chapter describes the method by which a drive seeks the home position (also called the datum, reference point or zero point). Homing can be performed using limit switches at...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 55 9.2 Objects Object 0x607C: Home offset This object is the difference between the zero position for the application and the machine home position (found during homing), measured in position units. During homing, the machine home position...

Object 0x6099: Homing speeds This entry in the object dictionary defines the speeds used during homing, in velocity units. The value is normalized to increments by velocity code factor . Typically, a high speed is used when searching for a home switch and the slow speed is used when searching for th...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 58 The speed is submitted to the maximum speed limit given by the user during setup. Otherwise, an abort message with abort code 0609 0030, “Value range of parameter exceeded” is activated. If the limits have been changed during the proces...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 59 Various homing positions are illustrated in the diagrams that follow ( section 9.4 ). A circled number indicates the code for selecting the homing position. The direction of movement is also indicated. Additional homing methods are avai...

9.4 DSP 402 Homing Methods The following sub-sections describe the details of how each homing mode functions. The Elmo drives support each of these methods. 9.4.1 Method 1: Homing on the negative limit switch and index pulse Using this method, the initial direction of movement is leftward if the neg...

9.4.3 Methods 3 and 4: Homing on the positive home switch and index pulse Using methods 3 or 4, the initial direction of movement is dependent on the state of the home switch. The home position is at the index pulse to either the left or right of the pint where the home switch changes state. If the ...

9.4.5 Methods 7 to 14: Homing on the home switch an index pulse These methods use a home switch that is active over only a portion of the travel; in effecthe switch has a “momentary” action as the axle position sweeps past the switch. Using methods 7 to 10, the initial direction of movement is to th...

9.4.6 Methods 15 and 16: Reserved These methods are reserved for future expansion of the homing mode. 9.4.7 Methods 17 to 30: Homing without an index pulse These methods are similar to methods 1 to 14, except that the home position is not dependent on the index pulse; it is dependent only on the rel...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 64 10: Position Control Function 6062h: Position demand value in position units 6063h: Position actual value in increments 6064h: Position actual value 6065h: Following error window 6067h: Position window 6068h: Position window time out 60...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 65 10.2 Objects Object 0x6062: Position demand value The value of this object is taken from the internal position command and is given in position units after being converted by position factor. Object description: Index 6062h Name Positio...

Entry description: Access Read/write PDO mapping No Value range UNSIGNED32 Default value 0 Object 0x6066: Following error time out When a following error occurs longer than the defined value of the timeout, given in multiples of milliseconds, the corresponding bit 13 following error in the statuswor...

11: Profiled Position 607Ah: Target position 607Bh: Position range limit 607Dh: Software position limit 607Fh: Maximum profile velocity 6081h: Profiled velocity 6082h: End velocity 6083h: Profiled acceleration 6084h: Profiled deceleration 6086h: Motion profile type 60C5h: Maximum acceleration 60C6h:...

11.2 Objects Object 0x607A: Target position The target position is the position to which the drive should move in position profile mode, using the current settings of motion control parameters such as velocity, acceleration, deceleration and motion profile type . The target position is given in user...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 73 Entry description: Sub-index 0 Description Number of entries Entry category Mandatory Access Read only PDO mapping No Value range 2 Default value 2 Sub-index 1 Description Min position range limit Entry category Mandatory Access Read/wr...

Object 0x607D: Software position limit This object contains the sub-parameters min position limit and max position limit, which define the absolute position limits for the position demand value and the position actual value . Every new target position must be checked against these limits. The positi...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 75 Sub-index 2 Description Max position limit Entry category Mandatory Access Read/write PDO mapping No Value range INTEGER32 Default value No The value of the software position limit is reflected in the VH[3] and VL[3] commands, to which ...

Object 0x6081: Profile velocity This object is the velocity normally attained at the end of the acceleration ramp during a profiled move and is valid for both directions of motion. The profile velocity is given in user-defined speed units. It is converted to position increments per second using the ...

Object 0x6083: Profile acceleration The profile acceleration is given in user-defined acceleration units. It is converted to position increments per second 2 using the normalizing factors. Object description: Index 6083h Name Profile acceleration Object code VAR Data type UNSIGNED32 Category Optiona...

The value of the profile deceleration is reflected in the DC command, to which the range and restrictions are ultimately submitted (refer to the SimplIQ Command Reference Manual ). Object 0x6085: Quick stop deceleration The quick stop deceleration is the deceleration used to stop the motor if the Qu...

Data description: Value Description -32,768…-1 Manufacturer specific 0 Linear ramp (trapezoidal profile) 1 Not supported 2 Not supported 3 Not supported 4…32,767 Reserved 11.3 Functional Description Two different means of applying target positions to a drive are supported by this device profile: Set...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 80 5. Unless it was interrupted by a change set immediately , the next trajectory is executed as soon as a target reached is set. Notes: A target position can be programmed at any status but can be executed only in ENABLE OPERATION state. ...

12: Interpolated Position 60C0h: Interpolation sub mode select 60C1h: Interpolation data record 60C2h: Interpolation time period 60C3h: Interpolation sync definition 60C4h: Interpolation data configuration 12.1 General Information Interpolated Position mode is used to control multiple coordinated ax...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 82 Interpolation inactive The state entered when the device is in OPERATION ENABLED state and Interpolated Position mode is selected and displayed (object 0x6061). The drive unit accepts input data and buffers it for interpolation calculat...

12.2 Objects Object 0x60C0: Interpolation sub mode select This object reflects or changes the actual chosen interpolation mode, selected by the user. The interpolation sub-modes can be changed only when the interpolated mode is inactive. When modifying the interpolation mode, a new mapping (if neede...

Object 0x60C1: Interpolation data record This object is the data words, which are necessary for performing the interpolation algorithm. The interpretation of the data words may vary with the different possible interpolation modes as set by 60C0h. Object description: Index 60C1h Name Interpolation da...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 86 Object 0x60C2: Interpolation time period This object is used to define the relative time taken between two set points for the interpolation position modes. The interpolation time unit is given in 10 interpolation time index seconds. The...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 90 Sub-index 6 Description Buffer clear Entry category Mandatory Access Write only PDO mapping No Value range UNSIGNED8 (described below) Default value 0 Notes: The maximum and actual buffer size are the number of interpolated data records...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 91 12.3 Functional Description In Interpolated Position mode, the drive executes a time-synchronized motion path. The user specifies the value of the reference signal at an initial time, and at fixed-time intervals from then on (as in the ...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 92 12.3.1 Linear Interpolation Linear interpolation requires only the position specified in data record object 0x60C1. The structure of the position data is according to data type 0x41 (refer to the Elmo CANopen Implementation Guide ). The...

12.3.3 Motion Synchronization The IP mode enables the synchronized motion of multiple axes. The motions of several slave axes are synchronized if they all run IP, and they all being the IP at the same time. Synchronization can proceed continuously using the SYNC-Time stamp mechanism. In order to sta...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 94 13: Profiled Velocity 6069h: Velocity sensor actual value 6060h: Velocity window 606Ah: Sensor selection code 606Bh: Velocity demand value 606Ch: Velocity actual value 606Dh: Velocity window 606Eh: Velocity window time 606Fh: Velocity t...

13.2 Objects Object 0x6069: Velocity sensor actual value This object describes the value read from a velocity encoder, in increments/second. If the velocity sensor actual value is reflected by object 0x606C, it is scaled by position_factor_2 and by position_factor_1. Object description: Index 6069h ...

Object 0x6070: Velocity threshold time The velocity threshold time is given in multiples of milliseconds. See the description in object 0x606F. Object description: Index 6070h Name Velocity threshold time Object code VAR Data type UNSIGNED16 Category Optional Entry description: Access Read/write PDO...

14: Profiled Torque Mode 6071h: Target torque 6072h: Max torque 6073h: Max current 6074h: Torque demand value 6075h: Motor rated current 6076h: Motor rated torque 6077h: Torque actual value 6078h: Current actual value 6087h: Torque slope 6088h: Torque profile type 14.1 General Information This chapt...

CANopen DSP 402 Implementation Guide MAN-CAN402IG (Ver. 1.2) 102 The torque demand, torque actual value, current actual value may be available to the user as parameters, if they are monitored. Elmo’s SimplIQ drives support Profile Torque mode when selected. When Profile Torque objects are set, some ...

Statusword of the profiled velocity mode: Bit Function 0…9 Described in Device Control 10 Target reached 11…13 Reserve 14…15 Described in Device Control Name Value Description 0 Target torque not (yet) reached. Target reached 1 Target torque reached. 14.2 Objects dictionary entries 14.2.1 Objects de...

Example : If a torque that is relative to current of 2 amps is needed, and object 0x6075 (Motor Rate Current) is 3200 mA, then [0x6071] = 2000 mA x 1000 / 3200 mA = 625 This number means 62.5 % of Motor Rate Current. Object 0x6072: Max torque This value represents the maximum permissible torque in t...

Entry description: Access Read/write PDO mapping No Value range INTEGER16 Default value 0 Note: The value in 6073h (which is in mA) is entered in PL[1] after it is converted to Amperes. For example: If we want PL[1] to be 4 Amps, and in [0x6075] is set to 3200 mA then [0x6073] = 4000 * 1000 / 3200 =...

Object 0x6087: Torque slope This parameter describes the rate of change of torque in units of per thousand of rated torque per second. Object description: Index 6087h Name Torque Slope Object code VAR Data type UNSIGNED32 Category Mandatory Entry description: Access Read/write PDO mapping Yes Value ...

Appendix A: Dimension Index Table Physical Dimension Unit Dimension Index None - 0x00 Way/length m 0x01 Area m 2 0xA0 Volume m 3 0xA1 s 0xA2 min 0x47 h 0x48 d 0x49 Time y 0x4A Power W 0x24 rev / s 0xA3 rev / min 0xA4 Revolutions/time rev / h 0xA5 rad 0x10 s 0x43 m 0x42 Angle º 0x41 m / s 0xA6 m / mi...

Appendix B: Notation Index Table Prefix Factor Symbol Notation Index unused - - 0x13…0x7F exa 10 18 E 0x12 - 10 17 - 0x11 - 10 16 - 0x10 peta 10 15 P 0x0F - 10 14 - 0x0E - 10 13 - 0x0D tera 10 12 T 0x0C - 10 11 - 0x0B - 10 10 - 0x0A giga 10 9 G 0x09 - 10 8 - 0x08 - 10 7 - 0x07 mega 0x06 10 6 M - 10 ...