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CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
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3: Emergencies
Emergency messages are detailed in the SimplIQ CANopen Implementation Guide.
4: Predefinition
Object 0x1000: Device type
The object at index 1000h describes the device type and functionality.
The SimplIQ returns 0x20192 for servo drive supporting DSP 402.
Object 0x1001: Error register
All bits are defined as in the
SimplIQ CANopen Implementation Manual and CiA DS-301.
The device-specific bit in the error register is used by the DSP 402 protocol. The error code
can be read from the predefined error field at object 1003h and is compatible with device
profiles for drives available for other field bus systems from object 0x603F as well.
The error register captures the latest emergency messages. SimplIQ servo drives
allow the user to block the transmission of an emergency according to object
0x2F20. Nevertheless, a blocked emergency message is captured in the relevant
entry of the error register.
PDO Mapping
The Elmo drive supports more than one operating mode of DSP 402. It also allows more
than one method to set and query commands. In addition, the use of more than one
standard PDO is predefined. With the Harmonica, four TPDOs and four RPDOs are free
for any mapping according to the Elmo object dictionary. At reset (power up, NMT
communication reset and NMT node reset), a default mapping is introduced according to
DSP 402. These default mapping can be later changed by the user.
Receive PDO 1 mapped to the controlword in the following manner:
Index Sub-index Name Default Value
1400h 0 Number of entries 2
1 COB-ID used by PDO 4000027Fh
2 Transmission type 255
Index Sub-index Name Default Value
1600h 0 Number of mapped entries 1
1 Controlword 6040 00 10h