ElmoメーカーDSP 305の使用説明書/サービス説明書
ページ先へ移動 of 20
Elmo Motion Control CANopen DSP 305 Implementation Guide Version 1.1- April 2006.
Important Notice This guide is delive red subject to the following condi tions and restri ctions: This guide con tains prop rietary inf ormation be longing to Elm o Motion C ontrol Ltd. Such informati on is supp lied solely f or the purp ose of assis ting users of SimplIQ servo drives in implementing CANopen n etworking.
Contents 1 Introduction ................................................................................................................ 1-1 1.1 Obje ctives of LSS .......................................................................................
1 Introduction This docume nt describes the objects and oper ational modes of the Elm o DSP-based motion control ler implement ation of t he CiA DSP 305 protocol. The Elmo Harmon ica digital servo drive (part of the SimplIQ family of digital servo dr ives ) is used whenev er examples ar e shown in this docum ent.
LMT (Layer Man agement): Functions to inquire and ch ange the settings o f certain parame ters of the local la yers on a CAL module. LSS (Layer Setting Se rvices): Func tions to inquire and change the settings of certain parame ters of the local la ye rs on a CANopen network.
1.5 Elmo Documentation This manual – included in the Elmo CANopen Im plementation Guide – is part of the Elmo SimplIQ digital servo drive do cumentatio n set, as outlined in the followin g diagram.
2 LSS Modes Devices t hat comm unicate with t he LSS protoco l can be in on e of two m odes, ‘ Configura tion Mode ’ and ‘ Opera tion Mode ’. Any device on the ne twork that is not in ‘Config u ration Mo de’ is in ‘O peration Mode’. I n ‘Configuration Mode ’ all LSS services are avail able.
3 LSS Services LSS services can be functionally gr ouped into four categ ories: Switch Mode Services provide a wa y to logically connect the LSS Mast er and LSS Slave(s) for configuration pu rpos es. They change the LSS mode attribute of the L SS Slave (see the Figure 3-1 ).
The protocols described below all h ave the same structure: a sp ecific sequence of COBs are exch anged between the LSS Master an d LSS Slave for a particular LSS service. Requesti ng Messages use COB-ID 7E5h while Response Messag es use COB-ID 7E4h. LSS uses Command Specifiers (CS) to identify the commands .
3.2.2 Switch Mode Selective This service is used to switch a specific LSS Slav e device to configuration mode. l sb Vendor-I D m sb 64 re s e rv e d fo r fu tu re u se b y C iA 012345678 CO B-I D = 7E.
3.3 Configuration Services Configuration serv ices are avail able only in configuration mode. So me of the servic es are only avai lable to one LSS Slave device . 3.3.1 Configuration Node-ID This service enab les the LSS Master to configure t he NMT-address of an LSS Slave.
3.3.2 Configuration Bit Timing Parameters The LSS Master’s Configur e Bit Timing Parameters service sets new bit ti ming on an LSS Slave . The bit timin g parameter s for different ba ud rates are sp ecified in th e Bit Timing Parameter Table below.
3: out of range 3.3.3 Activate Bit Timing Parameters The LSS Maste r's Activa te Bit Timin g Parameters se rvice activat es the bit timi ng as defined by the Configure Bit Timin g Parameters se rvice.
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.
If erro r_code is 2 55, then a specific_error_code will be: 2: incorrect mode no other options at this time 3.4 Inquiry Services The inquiry services are availabl e only in configuration mode. 3.4.1 Inquire LSS Address This service fi nds the LSS- address of a Slave in con figuration mo de.
Inquire Revision-Number Protocol 92 re se rve d fo r fu ture u s e by C iA 12345678 CO B-ID = 7E5h CS Figure 3-20 Inquire Revision-Number 92 Revisi on-Num ber re s e rv e d fo r fu tu r e u s e b y C .
94 ## res e rve d for futu re u se by C iA 012345678 CO B-I D = 7E4h CS NI D Figure 3-25 Confirm Node-ID If the Node-ID was recently changed wi th a Configure Node-ID command, the original Node-ID will continue to be ret u rned unt il the next power on res et.
Revision-Number-Low: The lower boundary of the requested re vision nu mbers range . The Minor range must be set to 0000h. l sb Revisi on-Num ber- High msb 73 r e s er ve d fo r fu tu re u s e b y C iA.
79 res e rve d for futu re us e by C iA 12345678 COB- ID = 7E4h CS 0 Figure 3-32 Slave Serial-Number Confirmation 3.5.3 Example If the Master knows tha t there are several node s of the same LSS type .
4 Implementation Rules When implementin g the LSS protocols, the f ollowing rules must be followe d to guarantee i nteroperability: CAL Layer Managemen t (LMT) To distinguish between LMT and LSS, all LSS services must us e command specifiers in the 040h – 07fh range.
デバイスElmo DSP 305の購入後に（又は購入する前であっても）重要なポイントは、説明書をよく読むことです。その単純な理由はいくつかあります：
Elmo DSP 305をまだ購入していないなら、この製品の基本情報を理解する良い機会です。まずは上にある説明書の最初のページをご覧ください。そこにはElmo DSP 305の技術情報の概要が記載されているはずです。デバイスがあなたのニーズを満たすかどうかは、ここで確認しましょう。Elmo DSP 305の取扱説明書の次のページをよく読むことにより、製品の全機能やその取り扱いに関する情報を知ることができます。Elmo DSP 305で得られた情報は、きっとあなたの購入の決断を手助けしてくれることでしょう。
Elmo DSP 305を既にお持ちだが、まだ読んでいない場合は、上記の理由によりそれを行うべきです。そうすることにより機能を適切に使用しているか、又はElmo DSP 305の不適切な取り扱いによりその寿命を短くする危険を犯していないかどうかを知ることができます。
ですが、ユーザガイドが果たす重要な役割の一つは、Elmo DSP 305に関する問題の解決を支援することです。そこにはほとんどの場合、トラブルシューティング、すなわちElmo DSP 305デバイスで最もよく起こりうる故障・不良とそれらの対処法についてのアドバイスを見つけることができるはずです。たとえ問題を解決できなかった場合でも、説明書にはカスタマー・サービスセンター又は最寄りのサービスセンターへの問い合わせ先等、次の対処法についての指示があるはずです。
