ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 7)

1: Introduction
This document describes the objects and operational modes of the Elmo DSP-based
motion controller implementation of the CiA DSP 402 protocol. The Elmo Harmonica
digital servo drive (part of the
SimplIQ family of digital servo drives ) is used as the main
example in this document.
Generally, the DSP 402 protocol refers only to the load behavior relating to the operation
of speed, position, limits and emergencies. It does not deal with control parameters such
as PI/P, scheduling and feed forward. The motor can be tuned and the plant parameters
set with the Elmo Composer, which may or may not use this protocol for settings. The
protocol offers methods in which a profiled reference can be given to the final load.
The DSP 402 implementation is applicable to Elmo position unit modes; that is
UM=4 or UM=5. This is assumed by the Elmo drive itself and it gives no other
indication.
The Elmo controller provides a number of different options for setting commands and
parameters, such as via the binary interpreter, OS interpreter, RS-232 interpreter and user
programs. When the user works with DSP 402, all relevant motion commands must be
given through this method only. Other command sources may prevent it from operating
properly according to the protocol.
Subsequently modifying controller states, modes and reference parameters using other
methods may lead to undefined states. For example, in a fault state, a FAULT_RESET
from the controlword must be given before enabling the motor again. But sending MO=1
through the OS interpreter may activate the motor and leave the status word of the
DSP 402 with an undefined status.
Other command sources are still useful for purposes not covered by the DSP 402
protocol. Examples include:
Monitoring the states of and inputs to the SimplIQ digital servo drive.
Using the Composer to monitor SimplIQ digital servo drive behavior through the RS-
232 port while the digital servo drive is under control of the CAN DSP 402 protocol.
Using the user program (or any of the interpreters) to program issues outside the
range of DSP 402 usage. For example, when the DSP 402 digital output command is
not used, the digital outputs can be operated freely by a user program.
1.1 Operating Principles
The CiA DSP 402 CANopen Device Profile for Drives and Motion Control is used to provide
drives in a CAN network with an understandable and consistent behavior. The profile is
built on top of a CAN communication profile, called CANopen, which describes the basic
communication mechanisms common to all devices in the CAN network.
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
1