ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 8)

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.
1.2 Abbreviations 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.
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
2