Page 2 - Important Notice; SimplIQ; servo drives in implementing CANopen networking.; Revision History; Release
Important Notice This guide is delivered subject to the following conditions and restrictions: This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of SimplIQ servo drives in implementing CANopen ne...
Page 3 - Contents
Contents 1 Introduction ................................................................................................................ 1-1 1.1 Objectives of LSS ......................................................................................................... 1-1 1.2 Abbreviations and Terms...
Page 4 - Introduction; DSP; Objectives of LSS
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 docume...
Page 5 - LSS Operating Restrictions
LMT (Layer Management): Functions to inquire and change the settings of certain parameters of the local layers on a CAL module. LSS (Layer Setting Services): Functions to inquire and change the settings of certain parameters of the local layers on a CANopen network. An LSS Master can change the foll...
Page 6 - Elmo Documentation; CANopen Implementation Guide
1.5 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: In addition to this document, the SimplIQ documentation set includes: The Harmonica, Bassoon, Cello and ...
Page 7 - LSS Modes; Configuration and the Operation Modes; An LSS Slave can be in one of two LSS modes:; Configuration Mode
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 the network that is not in ‘Configuration Mode’ is in ‘Operation Mode’. In ‘Configuration Mode’ all LSS services are available. In ‘Operation Mode’ only...
Page 8 - LSS Services; LSS services can be functionally grouped into four categories:; Reset; LSS Master-Slave Synchronization & Protocol
3 LSS Services LSS services can be functionally grouped into four categories: Switch Mode Services provide a way to logically connect the LSS Master and LSS Slave(s) for configuration purposes. They change the LSS mode attribute of the LSS Slave (see the Figure 3-1 ). Configuration Services perf...
Page 9 - Switch Mode Services; Switch Mode Global; Operation Mode; Figure
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 particular LSS service. Requesting Messages use COB-ID 7E5h while Response Messages use COB-ID 7E4h. LSS uses Command Specifiers (CS) to identify the comman...
Page 10 - Switch Mode Selective; Serial Number
3.2.2 Switch Mode Selective This service is used to switch a specific LSS Slave device to configuration mode. lsb Vendor-ID m sb 64 reserved for future use by CiA 0 1 2 3 4 5 6 7 8 CO B-ID = 7E5h CS Figure 3-4 Switch Slaves, from Specific Vendor, to Configuration Mode lsb Product-Code m sb 65 reserv...
Page 11 - Configuration Services; Configuration Node-ID
3.3 Configuration Services Configuration services are available only in configuration mode. Some of the services are only available to one LSS Slave device. 3.3.1 Configuration Node-ID This service enables the LSS Master to configure the NMT-address of an LSS Slave. Only one LSS Slave at a time can ...
Page 12 - Configuration Bit Timing Parameters
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 timing parameters for different baud rates are specified in the Bit Timing Parameter Table below. With table_selector value ´0´ the standard CiA bit timing ...
Page 13 - Activate Bit Timing Parameters; timing parameters. Figure
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 defined by the Configure Bit Timing Parameters service. The switch_delay parameter specifies the length of two delay periods of equal length, which are necessary t...
Page 14 - Store Configuration Parameters; : protocol successfully completed
d1 d2 d1 d2 d1 d2 p2 p2 LMT Master LMT Slave 1 LMT Slave 2 c c: initiation of command p1, p2: individual processing delay d1: duration of first switch_delay period d2: duration of second switch_delay period ********: node may be transmitting ******** ******** t t t Figure 3-13 Switch_Delay Periods 3...
Page 15 - Inquiry Services; Inquire LSS Address; Inquire Vendor-ID Protocol; Inquire Product-Code Protocol
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 services are available only in configuration mode. 3.4.1 Inquire LSS Address This service finds the LSS-address of a Slave in configuration mode. Since the LSS a...
Page 16 - Inquire Revision-Number Protocol; Inquire Serial-Number Protocol; Inquire Node-ID Protocol
Inquire Revision-Number Protocol 92 reserved for future use by CiA 1 2 3 4 5 6 7 8 CO B-ID = 7E5h CS Figure 3-20 Inquire Revision-Number 92 Revision-Number reserved for future use by CiA 0 1 2 3 4 5 6 7 8 COB-ID = 7E4h CS lsb msb Figure 3-21 Confirm Revision-Number Inquire Serial-Number Protocol 93 ...
Page 17 - Identification Services; LSS Identify Remote Slaves
94 ## reserved for future use by CiA 0 1 2 3 4 5 6 7 8 COB-ID = 7E4h CS NID Figure 3-25 Confirm Node-ID If the Node-ID was recently changed with a Configure Node-ID command, the original Node-ID will continue to be returned until the next power on reset. A value of FFh is returned if the Node-ID is ...
Page 18 - must be set to FFFFh.; The lower boundary of the requested serial numbers range; The higher boundary of the requested serial numbers range; LSS Identify Slave Protocol
Revision-Number-Low: The lower boundary of the requested revision numbers range. The Minor range must be set to 0000h. lsb Revision-Num ber-High m sb 73 reserved for future use by CiA 0 1 2 3 4 5 6 7 8 COB-ID = 7E5h CS Figure 3-29 Slave Revision Number Inquiry Revision-Number-High: The higher bounda...
Page 19 - Example; Are there any devices with serial numbers between 1276h and 2468h?
79 reserved for future use by CiA 1 2 3 4 5 6 7 8 COB-ID = 7E4h CS 0 Figure 3-32 Slave Serial-Number Confirmation 3.5.3 Example If the Master knows that there are several nodes of the same LSS type that only differ in their serial number, it can ask the following questions to locate them: Are there ...
Page 20 - Implementation Rules
4 Implementation Rules When implementing the LSS protocols, the following rules must be followed to guarantee interoperability: CAL Layer Management (LMT) To distinguish between LMT and LSS, all LSS services must use command specifiers in the 040h – 07fh range. Invalid COB's A COB is invalid if it h...
