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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 document.
Notes:
The DSP in CiA DSP 305 stands for Draft Standard Proposal.
The DSP in Elmo DSP-based motion controller stands for Digital Signal Processor.
With the DSP 305 Layer Setting Services and protocol, unconfigured devices in a
network can be identified by their unique manufacturer, product, serial and revision
number. After identification Bit Rate and Node ID can be configured for each device.
1.1 Objectives of LSS
CiA DSP 305 CANopen Layer Setting Service and Protocol (LSS) services and protocols
were created to enable the following parameters to be read and changed through the
network:
The CANopen Node ID
The CAN baud rate
The LSS address
This increases the “plug–and-play” capabilities of devices on CANopen networks as pre-
configuration of the network is less restrictive.
The LSS Master is responsible for configuring these parameters on one or more LSS
Slaves on a CANopen network.
1.2 Abbreviations and Terms
The following terms are used in this document:
COB (Communication Object): A unit of transportation in a CAN network.
Data must be send across a CAN network inside a COB. A COB can
contain at most 8 bytes of data.
COB-ID Each COB is uniquely indentified in a CAN network by a number called
the COB Identifier (COB-ID). The COB-ID determines the priority of the
COB for the MAX sub-layer.
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
CANopen DSP 305 Implementation Guide
MAN-CAN305IG (Ver. 1.1)
1-1