Elmo Motion Control

CANopen DS 301
Implementation Guide

Ver. 2.1 – August 2008

CANopen DS 301 Implementation Guide
MAN-CAN301IG (Ver. 2.1)

Important Notice
This guide is delivered subject to the following conditions and restrictions:
ƒ This guide contains proprietary information belonging to Elmo Motion Control Ltd.
Such information is supplied solely for the purpose of assisting users of SimplIQ
servo drives in implementing CANopen networking.
ƒ The text and graphics included in this manual are for the purpose of illustration and
reference only. The specifications on which they are based are subject to change
without notice.
ƒ Information in this document is subject to change without notice. Corporate and
individual names and data used in examples herein are fictitious unless otherwise
noted.
Doc. No. MAN-CAN301IG
Copyright © 2008
Elmo Motion Control Ltd.
All rights reserved.

Revision History:

Version Rel. Date Status Changes/Remarks

Ver 2.1 August 2008 y Updated note for 0x1017.
y Updated note for 0x2082.
y 0x2205: Analog input can be converted to physical units.
Updated the example.
y Updated 0x2F60.
y Added note to 0xF70.
Ver 2.0 Oct 2007 MAN-CAN301IG y All dummy entries can be mapped
y Added object 0x2F60, 0x2F70
y 0x2082 can be mapped
y Added State Machine graphic to Ch. 7
y Added note to 0x2082
y Added note to 0x1017
y Added object 0x2205

Elmo Motion Control Ltd. Elmo Motion Control Inc. Elmo Motion Control GmbH
64 Gissin St., P.O. Box 463 1 Park Drive, Suite 12 Steinkirchring 1
Petach Tikva 49103 Westford, MA 01886 D-78056, Villingen-Schwenningen
Israel USA Germany
Tel: +972 (3) 929-2300 Tel: +1 (978) 399-0034 Tel: +49 (0) 7720-85 77 60
Fax: +972 (3) 929-2322 Fax: +1 (978) 399-0035 Fax: +49 (0) 7720-85 77 70
[email protected] [email protected] [email protected] www.elmomc.com
CANopen DS 301 Implementation Guide i
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Contents
Chapter 1: Introduction .......................................................................................................... 1-1
1.1 Relevant Documentation ............................................................................. 1-1
1.1.1 Elmo Documentation ........................................................................................ 1-1
1.1.2 CAN Documentation ........................................................................................ 1-2
1.2 Terms and Abbreviations............................................................................. 1-2
1.3 SimplIQ Communication ............................................................................... 1-3

Chapter 2: CANopen Basics................................................................................................... 2-1

2.1 Physical Layer ........................................................................................... 2-1
2.2 Standard vs. Extended Addressing................................................................ 2-1
2.3 Client - Server Relations .............................................................................. 2-1
2.4 Inhibit Times ............................................................................................. 2-2
2.5 RTR – Remote Transmission Request............................................................. 2-2
2.6 Object Dictionary ....................................................................................... 2-2
2.7 Communication Objects .............................................................................. 2-3
2.8 Object Dictionary - Data Types ..................................................................... 2-4
2.9 Representation of Numbers.......................................................................... 2-7

Chapter 3: The Object Dictionary ......................................................................................... 3-1

Chapter 4: Service Data Objects (SDOs).............................................................................. 4-1

4.1 Initiate SDO Download Protocol ................................................................... 4-2
4.2 Download SDO Protocol ............................................................................. 4-3
4.3 Initiate SDO Upload Protocol ....................................................................... 4-4
4.4 Upload SDO Segment Protocol ..................................................................... 4-5
4.5 Abort SDO Transfer Protocol........................................................................ 4-6
4.6 Uploading Data Using an SDO ..................................................................... 4-7
4.7 Downloading Data Using an SDO................................................................. 4-8
4.8 Error Correction ......................................................................................... 4-8

Chapter 5: Process Data Objects (PDOs) ............................................................................. 5-1

5.1 Receive PDOs ............................................................................................ 5-1
5.2 Transmit PDOs .......................................................................................... 5-3
5.3 PDO Mapping ........................................................................................... 5-3
5.3.1 The Mapping Trigger – Transmission Type ................................................... 5-4
5.3.2 The Synchronous Trigger ................................................................................. 5-4
5.3.3 The Asynchronous Trigger .............................................................................. 5-5
5.3.4 RPDO Error Handling ...................................................................................... 5-5
5.3.5 Mapping Parameter Objects............................................................................. 5-6
5.3.6 Default Values ................................................................................................... 5-7

Chapter 6: Emergency (EMCY).............................................................................................. 6-1

6.1 Emergency Configuration............................................................................ 6-1
6.2 Emergency Codes Related to Failure ............................................................. 6-1
6.3 Emergency Codes for Motor Faults ............................................................... 6-1
6.4 Emergency Codes Related to PVT/PT Motion................................................. 6-1

Chapter 7: Network Management (NMT)............................................................................ 7-1

Chapter 8: SYNC and Time Stamp ....................................................................................... 8-1

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Chapter 9: Binary Interpreter Commands ........................................................................... 9-1

9.1 Binary Interpreter Commands and Results ..................................................... 9-2
9.1.1 Set and Query Commands ............................................................................... 9-2
9.1.1.1 RPDO2 Structure ............................................................................... 9-2
9.1.1.1 TPDO2 Structure................................................................................ 9-4
9.1.2 Execute Command ............................................................................................ 9-5
9.2 ASCII Interpreter Commands not Supported by Binary Interpreter .................... 9-6

Chapter 10: The OS Interpreter ........................................................................................... 10-1

Chapter 11: The EDS............................................................................................................. 11-1

Chapter 12: Communication Profile ................................................................................... 12-1

Object 0x1000: Device type...................................................................................................... 12-1
Object 0x1001: Error register................................................................................................... 12-2
Object 0x1002: Manufacturer status register........................................................................... 12-3
Object 0x1003: Pre-defined error field...................................................................................... 12-3
Object 0x1005: COB-ID SYNC message.................................................................................. 12-4
Object 0x1008: Manufacturer device name .............................................................................. 12-5
Object 0x1009: Manufacturer hardware version ...................................................................... 12-6
Object 0x100A: Manufacturer software version ...................................................................... 12-6
Object 0x100B: Node ID .......................................................................................................... 12-7
Object 0x1010: Save parameters .............................................................................................. 12-7
Object 0x1011: Restore parameters .......................................................................................... 12-8
Object 0x1012: COB-ID time stamp ........................................................................................ 12-9
Object 0x1013: High-resolution time stamp........................................................................... 12-10
Object 0x1014: COB-ID emergency object............................................................................. 12-11
Object 0x1016: Consumer heartbeat time............................................................................... 12-12
Object 0x1017: Producer heartbeat time................................................................................. 12-13
Object 0x1018: Identity object ............................................................................................... 12-14
Object 0x1023: OS command and prompt.............................................................................. 12-15
Object 0x1024: OS command mode........................................................................................ 12-17
Object 0x1029: Error behavior ............................................................................................... 12-17
Object 0x1200: SDO server parameter................................................................................... 12-18
Objects 0x1400 - 0x1403: Receive PDO communication parameter ...................................... 12-20
Objects 0x1800 - 0x1803: Transmit PDO communication parameter ................................... 12-23
Objects 0x1A00 - 0x1A03: Transmit PDO mapping............................................................. 12-25

Chapter 13: Manufacturer-specific Objects....................................................................... 13-1

Object 0x2001: PVT data ......................................................................................................... 13-1
Object 0x2002: PT data............................................................................................................ 13-2
Object 0x2004: ECAM data ..................................................................................................... 13-3
Object 0x2012: Binary interpreter input.................................................................................. 13-4
Object 0x2013: Binary interpreter output................................................................................ 13-4
Object 0x2030: Recorder data .................................................................................................. 13-5
Object 0x2040: Coordinate system group ID ......................................................................... 13-10
Object 0x2041: Amplifier-free running timer ........................................................................ 13-11
Object 0x2082: CAN controller status ................................................................................... 13-11
Object 0x208A: Begin time .................................................................................................... 13-13
Object 0x2090: Firmware download....................................................................................... 13-13
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Object 0x20A0: Auxiliary position actual value .................................................................... 13-14

Object 0x20A1: Main position error ...................................................................................... 13-15
Object 0x2200: Digital input ................................................................................................. 13-15
Object 0x2201: Digital input low byte ................................................................................... 13-16
Object 0x2205: Analog Input Object ................................................................................... 13-17
Then the reading obtained is:.............................................................................................. 13-18
Object 0x2F00: User Integer .................................................................................................. 13-18
Object 0x2F01: User Float Array........................................................................................... 13-19
Object 0x2F02: ET Array...................................................................................................... 13-20
Object 0x2F11: PVT head pointer .......................................................................................... 13-20
Object 0x2F12: PVT tail pointer ............................................................................................ 13-21
Object 0x2F15: Profile position remaining points .................................................................. 13-21
Object 0x2F21: Emergency events ......................................................................................... 13-24
Object 0x2F22: Bus off time out............................................................................................. 13-29
Object 0x2F23: Digital input TPDO event parameters.......................................................... 13-29
Object 0x2F30: Last time stamp correction ............................................................................ 13-31
Object 0x2F31: Last SYNC time ............................................................................................ 13-31
Object 0x2F40: Configuration object...................................................................................... 13-32
Object 0x2F41: DS402 Configuration object.......................................................................... 13-33
Object 0x2F60 – Zero torque threshold .............................................................................. 13-34
Object 0x2F70 – CAN Encoder Range ................................................................................ 13-35

Chapter 14: Error Control Protocol ..................................................................................... 14-1

Chapter 15: Downloading Firmware .................................................................................. 15-1

Chapter 16: Initial CAN Communication Setup............................................................... 16-1

16.1 Setup Using RS-232................................................................................... 16-1
16.2 Bootup Protocol ....................................................................................... 16-2

Appendix A: Little and Big Endians .................................................................................... A-1

 CANopen DS 301 Implementation Guide Introduction 1-1
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Chapter 1: Introduction
This manual explains how to implement CANopen DS 301 communication with Elmo’s
SimplIQ DSP-based digital servo drives. It provides a description of SimplIQ drives and
the means of implementing communication based on the CiA CANopen protocols.

Most SimplIQ functionality is standard, according to CiA documents DS 301, version 4.01,
DSP 402 (proprietary) and the CiA OS interpreter. In this document, emphasis is placed
on manufacturer-specific behaviors, although it also repeats certain CiA standard
material, to enhance understanding and to complete certain descriptions. The manual
does not contain all relevant CiA information, indicating that many objects are
implemented, but are not documented herein. The user should therefore complement this
manual with the CiA documents outlined in the following section.

1.1 Relevant Documentation

1.1.1 Elmo Documentation

This manual is part of the Elmo SimplIQ documentation set, as outlined in the following
diagram:

CANopen Implementation Guide

SimplIQ Software Manual
SimplIQ Command Reference Manual
Programming

Composer User Manual

Setup

Cello Installation Guide

Installation Basssoon Installation Guide
Harmonica Installation Guide
 CANopen DS 301 Implementation Guide Introduction 1-2
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In addition to this document, the SimplIQ documentation set includes:

ƒ The SimplIQ Installation Guide, which provides full instructions for installing the
SimplIQ digital servo drives
ƒ The Composer User Manual, which includes explanations of all the software tools that
are a part of Elmo’s Composer software environment
ƒ The SimplIQ Command Reference Manual, which describes, in detail, each software
command used to manipulate the SimplIQ motion controller.

This is the main source of detailed explanations of all SimplIQ commands

mentioned in this manual.
ƒ The SimplIQ Software Manual, which describes the comprehensive software used with
SimplIQ digital servo drives

1.1.2 CAN Documentation

Document Name Author Source
CAN Implementation Guidelines Gruhler G. and Drier B. STA Reutlingen
CiA DS 301 V 4.01: CiA
CANopen Communication Profile for
Industrial Systems - based on CAL
CiA DS 302 V 3.0: CiA
CANopen Framework for Programmable
Devices
CiA DS 305 V 1.0: CiA
CANopen Layer Setting Services and
Protocol (LSS)
CiA DSP 402 V 2.0: CiA
CANopen Device Profile
CiA DS 202-2 V 1.1: CiA
CAN Application Layer (CAL ) -
CMS Protocol Specification

1.2 Terms and Abbreviations

The following terms and abbreviations are used in this manual:
Term / Abbreviation Definition
CAL CAN application layer.
CAN client or master A host — typically a PC — or other control equipment that
supervises the nodes of a network.
CAN server or CAN A node in the CAN network that can give service under control
slave of the CAN master.
CMS CAN message specification.
COB Communication object; a CAN message.
CANopen DS 301 Implementation Guide Introduction 1-3
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Term / Abbreviation Definition

COB-ID A binary bit-field that includes the ID of the server with which
the master talks, and the type of COB.
EDS Electronic data sheet; a standard form of all CAN objects
supported by a device. The EDS is used by external CAN
configurators.
ID Identifier; the name by which a CAN device is addressed.
LSB Least Significant Bit (or Byte)
LSS Layer setting service: methods for configuring the ID and baud
rate of a slave, using the standard DSP 305.
MSB Most Significant Bit (or Byte)
Object A CAN message with a meaningful functionality and/or data.
Objects are referenced according to addresses in the object
dictionary. DO: Data object.
OD Object dictionary, which is the full set of objects supported by
the node. It is the interface between the application and
communication (see “Object” below.)
PLC Programmable controller. A PLC can serve as a CAN master for
SimplIQ digital servo drives.
Receive In this manual, “received” data is sent from the control
equipment to the servo drive.
Transmit In this manual, “transmitted” data is sent from the servo drive to
the other equipment.
Table 1-1: Terms and Abbreviations

1.3 SimplIQ Communication

SimplIQ digital servo drives support two types of serial communication:
ƒ RS-232
ƒ CANopen

SimplIQ digital servo drives can simultaneously communicate using both CAN and RS-
232 communication lines, which are always open for communication. The communication
parameters are set using the PP command.
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The following table compares the main features of both communication modes, as
implemented with Elmo SimplIQ digital servo drives:

Features CANopen RS-232

Baud rate 50,000 - 1,000,000. 4800 - 57,600 (RS-232).
Interpreter method Binary or ASCII. ASCII.
Fast referencing Yes, for PVT, PT and ECAM. No.
Network of servo drives Yes. No.
Multiple servo drive Yes. No.
synchronization
Standardization Compliant with CiA No standard.
standard.
Special equipment CAN communication No: direct connection to serial
required interface (available as an port of PC.
add-on ISA or PCMCIA card
for PCs) with appropriate
software.
Ease of use Basic capabilities included in Immediate: Just type
Elmo Composer program. command using
HyperTerminal or equivalent
terminal software.
Table 1-2: SimplIQ Communication Types

RS-232 operation is fast and simple, requiring no detailed understanding of communica-

tion processes. CANopen communication achieves higher rates and is able to support the
following advanced functions:
ƒ High speed online reference generation, required for supporting complex motions
ƒ Binary interpretation, which maximizes servo-drive command throughput by
eliminating servo drive software overhead
ƒ Servo network applications

To benefit from CAN communication and the CiA DS 301 CANopen standard, the user
must have a good understanding of the basic programming and timing issues of a
CANopen network.
CANopen DS 301 Implementation Guide CANopen Basics 2-1
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Chapter 2: CANopen Basics

This chapter describes — in general — the CANopen communication features most
relevant to Elmo SimplIQ servo drive. More detailed information is available in the
specific CANopen documentation.

2.1 Physical Layer

CAN is a serial communication standard in which the transferred data is coded as
electrical pulses on a two-wire communication line. The device that handles the CAN
physical layer is called the CAN controller. The device that transmits data over the CAN
lines is called the CAN transceiver. SimplIQ digital servo drives use a CAN controller built
into the drive DSP.

2.2 Standard vs. Extended Addressing

Each CAN message frame includes an arbitration field that defines the type of data sent
and its address. CAN version 2.0A supports 11 arbitration bits for this purpose; the seven
least significant define the address and the four most significant define the type of
message sent. Only 16 message types are supported. CAN version 2.0B supports 29
arbitration bits, of which the seven least significant define the address and 21 bits define
the message type. In CiA DS 301, the arbitration bits indicate the object and the node-ID,
together comprising the COB-ID.

CAN communication is prioritized so that messages with higher priority are transmitted
first. The arbitration field determines the message priority: The lower the number in the
arbitration field, the higher the message priority. ID 0 gives the highest priority. The
SimplIQ drives support the CAN version 2.0A (11-bit) addressing method only, meaning
that it ignores messages of 29 bits. A setup parameter (PP[13] - Node ID) selects the CAN
object identification to be used.

2.3 Client - Server Relations

A CAN master (or client) is a controller that makes requests to nodes to respond to its
commands. A CAN slave (or server) responds to the commands issued by the CAN
master. The CAN protocol permits both single-master and multiple-master networks.

The SimplIQ servo drives assume a single-master network arrangement, in which the
servo drives are the slaves and the machine controller or PLC is the master. Every servo
drive has a unique ID in the range [1…127]. The network master does not require an ID.
As a slave, the servo drive never sends an unrequested message, other than emergencies.
The drive responds only to messages addressed to its ID or to broadcast messages, which
have an ID of 0. All messages sent by a servo drive are marked with its own ID.

If two servo drives have been assigned the same ID, the CAN network may crash.
CANopen DS 301 Implementation Guide CANopen Basics 2-2
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2.4 Inhibit Times

The inhibit time for a given message type is the minimum time that must elapse from the
time the message is first transmitted until the time that it may be transmitted again. The
purpose of inhibit times is to ensure that high-priority messages do not flood the bus
and thereby prevent service messages of lower priority from being transmitted. The
inhibit times of SimplIQ drives are defined only for asynchronous transmit process data
objects (TPDOs), by sub-index 3 of the associated transmission type object. The resolution
of the inhibit time is 100 microseconds, with an accuracy of 2 milliseconds.

Note: If several events occur during the inhibit time of a message, only the last
message will be transmitted when the inhibit time extinct. For example, if TPDO3 is
activated by digital input 1 and digital input 3 with an inhibit time of 10
milliseconds, then if a digital input 1 event emits TPDO3 at time 0, a digital input 3
event occurring 5 milliseconds later will not cause any TPDO3 transmission for the
next 5 millisecond. The TPDO3 transmission would be postponed, allowing other
messages to be transmitted, until the inhibit time is exhausted.

The DS 301 version 4.0 protocol allows the user to modify the inhibit time only for COBs
that are not valid (sub-index 1 of objects 0x1400 and 0x1800), while SimplIQ drives allow
the user to modify the inhibit time at any time, with pending messages being discarded
according to that time definition.

2.5 RTR – Remote Transmission Request

The RTR is not supported by the Elmo drive.

2.6 Object Dictionary

An object dictionary (OD) is a naming system that gives a unique identifier to each data
item — or “object” —that is communicated over the CAN bus. An object is identified by
an index and, if it is a complex object, also by a sub-index. A CANopen client can
manipulate an object of a CANopen server by referring to its identifier, according to the
access permission of the object. (An object’s access permission may be read-only, write-
only, or read-write.)

CiA DS 301 requires a set of mandatory objects for all CANopen devices. Other OD items
are predefined by CiA DS 301 to have fixed identifiers, if supported. The OD also
accommodates manufacturer-specific objects.
CANopen DS 301 Implementation Guide CANopen Basics 2-3
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2.7 Communication Objects

The data-byte units transported through a CAN network are called communication
objects (COBs). SimplIQ servo drive uses the following COB types:

COB Type Description

Service data object (SDO) SDO messages are used to manipulate OD objects
according to their IDs. The server receives the SDO,
which specifies in its message which object is to be
dealt with.
SDO messages can be chained to form a “domain
transfer,” which is useful for sending large data items
such as long strings. Domain transfers are time-
consuming, because the CAN bus is half-duplex. Each
time a data segment is downloaded, a full-sized data
segment is uploaded for verification, and vice versa.
Process data object (PDO) PDO messages are used to manipulate OD objects
without explicit reference to the object identifier, which
is possible if there is an a-priori convention concerning
the OD item referenced. Such conventions are called
“PDO mappings”; these are actually OD objects
themselves, and may be defined and manipulated using
an SDO.
Emergency (EMCY) Emergency messages are used by the servo drives to
warn of an exception. The EMCY is the only COB type
that a servo drive may transmit without first being
explicitly asked. EMCY objects are similar to servo
drive “interrupts”: they eliminate the need to poll the
servo drive continuously for the emergency status.
Network Management (NMT) NMT objects are used by CAN clients to initialize a
servo drive as a server.
Layer Setting Service (LSS) This service is used to assign IDs and baud rates to
newly-installed products.
Table 2-1: Communication Objects Used by SimplIQ Servo Drives

The type of COB transmitted is indicated in the arbitration field of the message, and
thereby determines its priority. The relation between bits 8 to 11 of the arbitration field
(COB-ID) and the COB type is presented in the following table:
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COB Type Bits 8 - 11 of COB-ID ID Range

NMT 0000 0
SYNC 0001 128 (80h)
Time Stamp 0010 256 (100h)
Emergency 0001 129…255 (81h…ffh)
PDO1 - Transmit 0011 385…511 (181h…1ffh)
PDO1 - Receive 0100 513…639 (201h…27fh)
PDO2 - Transmit 0101 641…767 (281h…2ffh)
PDO2 - Receive 0110 769…895 (301h…37fh)
PDO3 - Transmit 0111 897…1023 (381h…3ffh)
PDO3 - Receive 1000 1025…1151 (401h…47fh)
PDO4 - Transmit 1001 1153…1279 (481h…4ffh)
PDO4 - Receive 1010 1281…1407 (501h…57fh)
SDO - Transmit 1011 1409…1535 (581h…5ffh)
SDO - Receive 1100 1537…1663 (601h…67fh)
Error control (node guarding) 1110 1793…1919 (701h…77fh)
Table 2-2: COB Types

Example:
The COB-ID of PDO1, when received by node #2, is binary 01000000010, which is
decimal 514, or 202 hexadecimal. The IDs of the servo drives are set in the range 1…127.

2.8 Object Dictionary - Data Types

The Elmo CAN controller supports the following data types:

Index Object Name

0002 DEFTYPE Integer8
0003 DEFTYPE Integer16
0004 DEFTYPE Integer32
0005 DEFTYPE Unsigned8
0006 DEFTYPE Unsigned16
0007 DEFTYPE Unsigned32
0008 DEFTYPE Floating Point (Float)
0009 DEFTYPE Visible String
0020 DEFSTRUCT PDO CommPar
0021 DEFSTRUCT PDO Mapping
0022 DEFSTRUCT SDO Parameter
CANopen DS 301 Implementation Guide CANopen Basics 2-5
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Index Object Name

0040 DEFTYPE PVT DataPar
0041 DEFTYPE PT DataPar
0042 DEFTYPE Binary interpreter query
0043 DEFTYPE Binary interpreter command
0044 DEFTYPE DSP 402 PV data record
0081 DEFTYPE DSP 402 interpolated data configuration record
Table 2-3: Data Types

Note: Data Objects 0002 to 0004 are used as map able “dummy” entries.

Communication Parameter Record Object 0x20

Index Sub-index Field in PDO Communication Parameter Record Data Type
0020h 0h Number of supported entries in record UNSIGNED8
1h COB-ID UNSIGNED32
2h Transmission type UNSIGNED8
3h Inhibit time UNSIGNED16
4h Reserved UNSIGNED8
5h Event timer UNSIGNED16

PDO Mapping Parameter Record Object 0x21

Index Sub-index Field in PDO Parameter Mapping Record Data Type
0021h 0h Number of mapped objects in PDO UNSIGNED8
1h First object to be mapped UNSIGNED32
2h Second object to be mapped UNSIGNED32
… … … …
40h 64th object to be mapped UNSIGNED32

The four device-specific data types used by SimplIQ digital servo drives are as follows:

PVT DataPar Object 0x40

MSB LSB
Time (UNSIGNED8) Velocity (SIGNED24) Position (SIGNED32)

PT DataPar Object 0x41

MSB LSB
Position 2 (SIGNED32) Position 1 (SIGNED32)
CANopen DS 301 Implementation Guide CANopen Basics 2-6
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Binary Interpreter Query Object 0x42

MSB LSB
7 6 5 4 3 2 1 0
Attribute Attribute Letter Letter
high low low high

For more information about the binary interpreter query, refer to Chapter 9.

Binary Interpreter Command Object 0x43

MSB LSB
7 6 5 4 3 2 1 0
Data Data Data Data Attribute Attribute Letter Letter
high low high low low high

For more information about the binary interpreter command, refer to Chapter 9.

DSP 402 Interpolated Mode PV Object 0x44

MSB LSB
Position 2 (SIGNED32) Velocity (SIGNED32)

DSP 402 Interpolated Time Period Record Object 0x80

Index Sub-index Field in Interpolation Time Period Record Data Type
0080h 0h Number of entries UNSIGNED8
1h Interpolation time units UNSIGNED8
2h Interpolation time index INTEGER8

DSP 402 Interpolated Data Configuration Record Object 0x81

Index Sub-index Field in Interpolation Time Period Record Data Type
0081h 0h Number of entries UNSIGNED8
1h Maximum buffer size UNSIGNED32
2h Actual buffer size UNSIGNED32
3h Buffer organization UNSIGNED8
4h Buffer position UNSIGNED16
5h Size of data record UNSIGNED8
6h Buffer clear UNSIGNED8
CANopen DS 301 Implementation Guide CANopen Basics 2-7
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2.9 Representation of Numbers

CAN communication delivers numerical data stored in binary form. Integers are stored
by their binary representation, while floating-point numbers are stored according to the
IEEE representation. SimplIQ digital servo drives support three types of data: short
integers (two bytes), long integers (four bytes) and floating-point numbers (four bytes).
These multiple-byte numbers are stored in the CAN messages according to CAN
standards, using the “little endian” (Intel-type) convention. With this method, the
number is inverted before storage: The most significant byte of the number receives the
lowest address and the least significant byte receives the highest address. More
information about the little endian method is provided in the Appendix of this manual.

Example:
The following is an 8-byte CAN message:

Bytes 0 - 1 0x1234
Bytes 2 - 3 0x5678
Bytes 4 - 7 0x9abcdef0

The CAN message data field will be as follows:

Byte Contents
0 0x34
1 0x12
2 0x78
3 0x56
4 0xf0
5 0xde
6 0xbc
7 0x9a
CANopen DS 301 Implementation Guide The Object Dictionary 3-1
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Chapter 3: The Object Dictionary

The object dictionary is essentially a grouping of objects that are accessible via receive
and transmit SDOs. Part of the object can be mapped to transmit and receive PDOs
(TPDO and RPDO, respectively) in a predefined manner.

The following layout is used with the objects in the object dictionary:

Index (Hex) Object

0 Not used
0001 - 001F Static data type
0020 - 003F Complex data type
0040 - 005F Manufacturer-specific data type
0060 - 0FFF Reserved
1000 - 1FFF Communication profile area
2000 - 2FFF Manufacturer-specific profile area
6000 - 6FFF Standardized device profile area
A000 - FFF Reserved

The table that follows lists the objects supported by SimplIQ digital servo drives. Each
object is addressed by a 16-bit index. Some of the objects may include 8-bit sub-indices,
which are described in the object description. The object Name is that given by CiA or
Elmo according to object type. Access can be R (read only), W (write only) or R/W
(read/write). In the Can be Mapped column, N indicates that the object cannot be
mapped to a PDO, while Y indicates that the object can be mapped to a PDO or that it is
permanently mapped to a predefined PDO.
Name Index Description Access Mapped
CAN controller 0x1000 Device type and functionality. Constant R N
type value = 0x12D.
Error register 0x1001 Contains error information. R N
Manufacturer 0x1002 Returns status similar to SR command. R Y
status register
Pre-defined error 0x1003 Returns previous emergency history. R N
field Setting object 0x1003 sub-index 0 to 0
deletes error history.
COB-ID for 0x1005 32-bit Dword, pre-defined. R N
SYNC message
Communication 0x1006 Spacing, in μsec, between consecutive R/W N
cycle period SYNC signals. This parameter is included
for compatibility with the standard OD, but
it is ignored.
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Name Index Description Access Mapped

Manufacturer’s 0x1008 String that returns the drive name such as R N
device name “Harmonica”
Hardware 0x1009 A string that conveys the information in R N
version WS[30].
Software version 0x100A String that returns value of VR command. R N
Node ID 0x100B R N
Store parameters 0x1010 Stores parameters in flash memory. R/W N
Restore 0x1011 Restore parameters from flash memory. R/W N
parameters
COB-ID for Time 0x1012 Specifies COB-ID of Time Stamp R N
Stamp message message.
High-resolution 0x1013 Defines a Time Stamp message with a R/W N
Time Stamp resolution of 1 μsec.
COB-ID of 0x1014 Defines COB-ID of the Emergency object R N
Emergency (EMCY).
message
Consumer 0x1016 Defines minimal acceptance rate for R/W N
heartbeat time heartbeat messages.
Producer 0x1017 Defines rate of generating heartbeats. R/W N
heartbeat time
LSS address 0x1018 Address for ID and baud rate R N
configuration, according to DSP 305.
OS interpreter 0x1023 OS prompt interpreter. R/W N
OS command 0x1024 Mode command and status readout of OS R/W N
mode interpreter.
Error behavior 0x1029 Defines behavior in a case of serious R/W N
device failure, according to CiA
DS 301.
SDO1 server 0x1200 SDO1: server parameter. (link) R N
PDO1 RX Comm. 0x1400 PDO1: receive communication parameter. R/W N
(link)
PDO2 Rx Comm. 0x1401 PDO2: receive communication parameter. R/W N
PDO3 Rx Comm. 0x1402 PDO3: receive communication parameter. R/W N
PDO4 RX Comm. 0x1403 PDO4: receive communication parameter. R/W N
PDO1 Rx Map. 0x1600 PDO1: receive mapping parameter. (link) R/W N
PDO2 Rx Map. 0x1601 PDO2: receive mapping parameter. R/W N
PDO3 Rx Map. 0x1602 PDO3: receive mapping parameter. R/W N
PDO4 Rx Map. 0x1603 PDO4: receive mapping parameter. (link) R/W N
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Name Index Description Access Mapped

PDO1 Rx Comm. 0x1800 PDO1: transmit communication R/W N
parameter.
PDO2 Tx Comm. 0x1801 PDO2: transmit communication R/W N
parameter.
PDO3 Tx Comm. 0x1802 PDO3: transmit communication R/W N
parameter.
PDO4 Tx Comm. 0x1803 PDO4: transmit communication R/W N
parameter.
PDO1 Tx Map. 0x1A00 PDO1: transmit mapping parameter. R/W N
PDO2 Tx Map. 0x1A01 PDO2: transmit mapping parameter. R/W N
PDO3 Tx Map. 0x1A02 PDO3: transmit mapping parameter. R/W N
PDO4 Tx Map 0x1A03 PDO4: transmit mapping parameter. R/W N
PVT data 0x2001 Bytes describing PVT command. W Y
PT data 0x2002 Bytes describing PT command. W Y
Fast position 0x2003 Reserved for future real-time positioning
modes.
ECAM data 0x2004 Fast, auto-increment entry to ECAM W Y
table.
Binary interpreter 0x2012 Set binary interpreter command. W Y
input
Binary interpreter 0x2013 Get binary interpreter command. R Y
output
Recorded data 0x2030 Contains recorded data according to R N
output request in RC binary command.
Group ID 0x2040 Identifier used to address a group of R/W N
drives for coordinated commands.
Amplifier free 0x2041 Transmits accurate 32-bit timer of drive. R Y
running timer
CAN controller 0x2082 CAN controller status register. R Y
status
Begin on time 0x208A Used to start a synchronized motion R/W N
according to internal free running timer.
Firmware 0x2090 Similar to DF command. W N
download
Auxiliary 0x20A0 Actual position as taken from auxiliary R Y
position actual sensor input (PY).
value
Position error 0x20A1 Position error as calculated from R Y
command and actual position value. (PE).
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Name Index Description Access Mapped

Digital input 0x2200 Reflects the digital input (IP) R Y
Digital inputs 0x2201 Reflected Negative limit switch, Positive R Y
low byte limit switch and Home switch.
User Integer 0x2F00 Provides an array of 24 integer numbers R Y
for general-purpose use.
User Float Array 0x2F01 Provides an array of 24 floating numbers R/W Y
for general-purpose use.
ET Array 0x2F02 Enables ECAM table variables (ET[1] to R/W Y
ET[255]) to be loaded.
PVT buffer head 0x2F11 PVT motion advance information. R Y
pointer
PVT buffer tail 0x2F12 PVT motion advance information. R Y
pointer
Buffered PTP 0x2F15 Used to detect number of remaining R Y
remained point points in DSP 402 Profile Position
buffered mode.
Asynchronous 0x2F20 Defines which events emit a PDO. R/W N
PDO event
Emergency event 0x2F21 Defines which events emit an emergency. R/W N
Bus-off timeout 0x2F22 Defines bus-off timeout, after which CAN R/W N
communication will be renewed if SimplIQ
enters bus-off.
Digital Input 0x2F23 Defines which digital input transmissions R/W N
TPDO Event will activate a TPDO driven by a digital
Parameters input event.
Last Time Stamp 0x2F30 Difference between last SYNC time and R Y
correction last Time Stamp.
Serves to estimate how accurately the
internal amplifier's clock is locked on the
master clock.
Internal µsec 0x2F31 Internal µsec counter of drive, sampled at R Y
counter at last last SYNC. Useful when one drive is used
SYNC to synchronize entire network.
Configuration 0x2F40 Configure functionality of the node. R/W N
object
Table 3-1: Object Dictionary
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Chapter 4: Service Data Objects (SDOs)

SimplIQ digital servo drives use a single transmit server SDO (COB 581h-6ffh) and a single
receive server SDO (COB601h-67fh). This is according to CiA definitions and priority
allocations for 11-bit addressing.

When using SDOs, it is important to remember that:

ƒ An SDO has a lower priority than a PDO.
ƒ An SDO session is not complete until it is confirmed.

For example, if an SDO is used to change a PDO mapping, the SDO should be issued only
after the last session in which the PDO is completed, and the newly-mapped PDO should
not be used until the SDO mapping change is confirmed.

SDOs implement the CMS multiplexed domain protocols.

Notes:
ƒ In an SDO data exchange, each client message may be backed by one and only
one server message.
ƒ An SDO carries a toggle bit, which varies in every consecutive message of a
domain transfer, so that the loss of a single message can be tracked.
ƒ An SDO transfer can be terminated using the special “Abort domain transfer”
message.
ƒ An SDO message carries a maximum of seven bytes of data. One byte (the header
byte) is always dedicated to overhead data.
ƒ The length of an SDO message is always eight bytes, even if some of them are
unused. Unused data bytes are marked as such in the message header.
ƒ The maximum length of payload data in an expedited SDO is four bytes.
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4.1 Initiate SDO Download Protocol

This protocol is used to implement the Initiate SDO Download service.

Client to server:
0 1 4 8
7…5 4 3…2 1 0
css = 1 x n e s m d (data)

Server to client:
0 1 4 8
7…5 4…0
scs = 3 x m reserved

where:
css Client command specifier
1: Initiate download request
scs Server command specifier
3: Initiate download response
n Number of bytes in d that do not contain data. Only valid if
e = 1 and s = 1; otherwise it is 0. Bytes [8-n, 7] do not contain data.
e Transfer type
0: Normal transfer
1: Expedited transfer
s Size indicator
0: Data set size is not indicated
1: Data set size is indicated
m Multiplexor. Represents index/sub-index of data to be transferred by
SDO.
d Data
e = 0, s = 0: d is reserved for future use.
e = 0, s = 1: d contains number of bytes to be downloaded.
Byte 4 contains LSB and byte 7 contains MSB.
e = 1, s = 1: d contains data of length 4-n to be downloaded. The encoding
depends on the type of data referenced by index and sub-index.
e = 1, s = 0: d contains an unspecified number of bytes to be downloaded.
x Not used; always 0.
reserved Reserved for future use; always 0.
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4.2 Download SDO Protocol

This protocol is used to implement the Download SDO Segment service.

Client to server:
0 1 8
7…5 4 3…1 0
css = 0 t n c seg-data (segment data)

Server to client:
0 1 8
7…5 4 3…0
scs = 1 t x reserved

where:
css Client command specifier
0: Download segment request
scs Server command specifier
1: Download segment response
seg-data Maximum seven bytes of segment data downloaded. Encoding depends
on type of data referenced by index and sub-index.
n Number of bytes in seg-data that do not contain segment data. Bytes
[8-n, 7] do not contain segment data. n = 0 if no segment size is indicated.
c Whether or not there are still more segments to be downloaded:
0: More segments to be downloaded
1: No more segments to be downloaded
t Toggle bit, which alternates for each subsequent segment to be
downloaded. First segment has toggle-bit set to 0. Toggle bit is equal for
request and response message.
x Not used; always 0.
reserved Reserved for future use; always 0.
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4.3 Initiate SDO Upload Protocol

This protocol is used to implement the Initiate SDO Download service.

Client to server:
0 1 4 8
7…5 4…0
css = 2 x m reserved

Server to client:
0 1 4 8
7…5 4 3…2 1 0
scs = 2 x n e s m reserved

where:
css Client command specifier
2: Initiate upload request
scs Server command specifier
2: Initiate upload response
n Number of bytes in d that do not contain data. Only valid if
e = 1 and s = 1; otherwise it is 0. Bytes [8-n, 7] do not contain segment
data.
e Transfer type
0: Normal transfer
1: Expedited transfer
s Size indicator
0: Data set size is not indicated
1: Data set size is indicated
m Multiplexor. Represents index/sub-index of data to be transferred by
SDO.
d Data
e = 0, s = 0: d is reserved for future use.
e = 0, s = 1: d contains the number of bytes to be uploaded.
Byte 4 contains LSB and byte 7 contains MSB.
e = 1, s = 1: d contains data of length 4-n to be downloaded. The encoding
depends on the type of data referenced by index and sub-index.
e = 1, s = 0: d contains an unspecified number of bytes to be uploaded.
x Not used; always 0.
reserved Reserved for future use; always 0.
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4.4 Upload SDO Segment Protocol

This protocol is used to implement the Upload SDO Segment service.

Client to server:
0 1 8
7…5 4 3…0
css = 3 t x reserved

Server to client:
0 1 8
7…5 4 3…1 0
scs = 0 t n c seg-data

where:
css Client command specifier
3: Upload segment request
scs Server command specifier
0: Upload segment response
t Toggle bit, which alternates for each subsequent segment to be uploaded.
First segment has toggle-bit set to 0. Toggle bit is equal for request and
response message.
c Whether or not there are still more segments to be uploaded:
0: More segments to be uploaded
1: No more segments to be uploaded
seg-data Maximum seven bytes of segment data uploaded. Encoding depends on
type of data referenced by index and sub-index.
n Number of bytes in seg-data that do not contain segment data. Bytes
[8-n, 7] do not contain segment data. n = 0 if no segment size is indicated.
x Not used; always 0.
reserved Reserved for future use; always 0.
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4.5 Abort SDO Transfer Protocol

This protocol is used to implement the Abort SDO Transfer service.

Client to server or server to client:

0 1 4 8
7…5 4…0
cs = 4 x m d (data)

where:
cs Command specifier
4: Abort transfer request
x Not used; always 0.
m Multiplexor. Represents index/sub-index of SDO.
d Four-byte abort code giving reason for abort, encoded as Unsigned32
value.

The SDO Abort codes are listed in the following table:

Abort Code Description

0503 0000h Toggle bit not alternated.
0504 0001h Invalid or unknown client/server command specifier.
0504 0005h Out of memory.
0601 0000h Unsupported access to an object.
0601 0001h Attempt to read a write-only object.
0601 0002h Attempt to write a read-only object.
0602 000h Object does not exist in object dictionary.
0604 0041h Object cannot be mapped to PDO.
0604 0042h Number and length of objects to be mapped exceeds PDO length.
0604 0043h General parameter incompatibility.
0604 0047h General internal incompatibility in device.
0606 0000h Access failed due to hardware error.
0607 0010h Data type does not match, length of service parameter does not match.
0607 0012h Data type does not match, service parameter too long.
0607 0013h Data type does not match, service parameter too short.
0609 0011h Sub-index does not exist.
0609 0030h Value range of parameter exceeded (only for write access).
0609 0031h Value of parameter written too high.
0609 0032h Value of parameter written too low.
0609 0036h Maximum value is less than minimum value.
0800 0000h General error.
0800 0020h Data cannot be transferred to or stored in application.
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Abort Code Description

0800 0021h Data cannot be transferred to or stored in application due to local
control.
0800 0022h Data cannot be transferred to or stored in application due to present
device state.
0800 0023h Object dictionary dynamic generation failed or no object dictionary is
present (for example, object dictionary is generated from file and
generation has failed due to a file error).
Table 4-1: SDO Abort Codes

When the abort code is 0800 0000h, the actual error can be retrieved using the EC
command.

4.6 Uploading Data Using an SDO

Data is uploaded in two basic formats:
ƒ A short data item (up to four bytes) is uploaded by a single message conversation,
called an expedited SDO.
ƒ Longer data items require a longer conversation and are called segmented transfers.

Example of an expedited SDO:

An SDO is used to read the number of SDOs supported by the servo drive. The result
(one transmit SDO and one receive SDO) is in object 0x1000 in the OD and is formatted as
the 32-bit word 0x00020192. The client message body is outlined in the following table
(% indicates a binary number):

Byte Value Description Comment

0 %01000000 Header Leading %010 is client command specifier
(ccs) for Initiate Domain Upload.
1 0x00 Index (LO)
2 0x10 Index (HI) Use little endian.
3 0 Sub-index No sub-index; therefore set to 0.
4-8 0 Reserved
Table 4-2: Expedited SDO - Client Message
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The server response is outlined in the following table:

Byte Value Description Comment

0 %01000011 Header Bits 7…5: %010 is client command specifier
(css) for Initiate Domain Upload.
Bits 3, 2: n bits that indicate that all data
bytes are relevant.
Bits 1, 0: %11, to expedite transfer and d
contains information.
1 0x00 Index (LO)
2 0x10 Index (HI) Use little endian.
3 0 Sub-index No sub-index, so it is set to 0.
4 0x92 Data: 0x00020192 in
little endian format
5 0x01
6 0x02
7 0
Table 4-3: Expedited SDO - Server Response

4.7 Downloading Data Using an SDO

Data downloading with SDOs is very similar to data uploading. It can be handled in a
single message conversation (expedited transfer) or in a segmented conversation. A
detailed example of an expedited download transfer is given in section 5.3.6.

4.8 Error Correction

Included in an SDO transaction are features that enable error detection and correction.
Errors can be detected with both software and hardware. Hardware error conditions
relate to overrun, excessive line noise, broken lines or other malfunctions of the physical
layer. The toggle bit is used for software detection; it correlates each domain segment
with its previous and next segments. An unexpected toggle bit signals an error.

An Elmo slave that receives a corrupted message always terminates the SDO sequence
with an “Abort domain transfer” message, structured as follows:
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Byte Description
0 0x80
1–2 Index
3 Sub-index
4 Additional code
5 Error code
6–7 Error class
Table 4-4: Abort Domain Transfer Message Structure

Fields 4 to 7 are described fully under “Abort SDO Transfer Protocol” in this manual.
CANopen DS 301 Implementation Guide Process Data Objects (PDOs) 5-1
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Chapter 5: Process Data Objects (PDOs)

5.1 Receive PDOs

A Receive Process Data Objects (RPDO) is used to receive predefined and unconfirmed
messages. An RPDO is received through use of an event, which may be asynchronous
(such as “Message Received”) or synchronous with the reception of a SYNC. Four receive
PDOs are used with the Elmo drive. The following must be indicated:
ƒ Objects that can be mapped and have write access can be mapped to each RPDO.
ƒ Execution of the mapped objects begins in the lower index of the relevant mapping
object (0x1600 - 0x1603).
ƒ High-priority objects, used for high-speed motion modes, can be mapped to an RPDO
to avoid the overhead in using the standard interpreter. This mapping is dynamic,
according to the setting of the PDO mapping at index 0x1600 - 0x1603 by the
appropriate SDO. In a drive, only one fast reference object can be mapped to a single
RPDO. The fast reference objects that can be mapped to an RPDO are:

Index Meaning Access

2001h PVT motion command Write
2002h PT motion command Write
2003h Reserved
2004h ECAM entry Write

ƒ All type of objects can be mapped. Unsigned8, Signed8, Unsigned16, signed16,

Unsigned32, and SignedT32 can be mapped. Manufacture specific object such as
Binary interpreter and PVT\PT can also be mapped.

ƒ RPDO1-4 can be freely mapped. The only constraints are that only one of the 0x2001
– 0x2004 objects can be mapped to an RPDO at a time, and that none of these objects
can be mapped to more than one RPDO simultaneously.

ƒ Data of RPDOs mapped to objects 0x2001-0x2004 is processed immediately upon

reception.

ƒ Data of RPDOs is queued and it is passed for interpretation and execution at the
next available background loop (Idle Loop) and according to the transmission type.

ƒ The transmission type associated to the Rx mapping can be either synchronous

where the data of the RPDO is passed for executing after the occurrence of the
following SYNC (value =1), or asynchronous (value=255 or 254) in which the data of
the RPDO is passed to the application immediately after reception and processed on
the next Idle loop.

ƒ At most one copy of each mapped RPDO can be stored for synchronous execution. If
same RPDO arrives before next SYNC, it overwrites the previous with no
notification.
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ƒ A change in RPDO mapping wipes any pending synchronous or asynchronous

queued RPDO s of that type. The user must be aware and responsible.

ƒ Change of transmission type from synchronous to asynchronous does not wipe

pending instances.

ƒ Changing transmission type to synchronous does not wipe any queued

asynchronous instances.

ƒ Objects can receive data from SDO and RPDO on the same time. User must be aware
that the result of such case cannot be predicted. The final value of the object maybe
either the SDO or the RPDO data.

ƒ RPDOs cannot be retrieved by a remote transmitting (RTR).

Error Cases

When an RPDO fails to interpret, an emergency message 0x6300 0x01 is transmitted.

There might be several objects mapped into the same RPDO. The EMCY message
identifies the objects that failed. A failure is consider when the received data could not be
interpreted or executed. Refer to the “RPDO error handling” section in this manual.

In some cases Elmo’s error code is produced. The emergency may contain this error code.

Example of RPDO mapping:

In order to set PDO1 to program PT-type motion commands (object 0x2002), set the object
at index 0x1600 (PDO mapping, type defined by object 0x21).

Sub-index 0 Unsigned8 1
Sub-index 1 Pt-type 0x20020040

The PDO mapping may be set using a single expedited SDO, which will be:

Byte Value Description

0 0x23 Initiate download, expedited, index valid, data valid.
1 0 Index (LO) to store at.
2 0x16 Index (HI) to store at.
3 1 Sub-index to store at.
4 0x40 Data length
5 0 Sub-index
6 0x02 High data
7 0x20 Low data
Table 5-1: Service Data Objects
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The SDO is answered by the following:

Byte Value Description

0 0x67 Initiate download, expedited, index valid, data valid, no failure.
1 0 Index to store at.
2 0x16 Index to store at.
3 1 Sub-index to store at.
4 0 Reserved.
5 0
6 0
7 0
Table 5-2: Answered SDO

5.2 Transmit PDOs

Four transmit PDOs can be used in Elmo drives. TPDOs are used to retrieve an object
(data) from the drive. Objects that have read access and are mappable can be mapped to
each one of the TPDOs. The transmitted data inside the TPDO is ordered according to the
mapping order. The data starting from the LSB data is mapped first - in the lower index
of the relevant mapping object.

5.3 PDO Mapping

PDO mapping is a convention that assigns (maps) an object from the object dictionary
(data payload) to a PDO. Once mapped, the PDO can carry the assigned data items
without explicit reference to the object dictionary, thereby saving on communication and
CPU overhead.

Only a subset of the objects in the object dictionary can be mapped to a PDO, which can
either receive (RPDO) or transmit (TPDO). The mapping of an RPDO enables reception of
commands and variables — for example, efficient transmission of high-speed online
motion commands to the drive — whereas the mapping of a TPDO enables the drive to
send a predefined message in response to an event.

A TPDO is considered synchronous if triggered by a SYNC signal, and asynchronous if

triggered by another event.

An RPDO is buffered upon reception; it is sent for interpretation immediately (when

defined as asynchronous) or upon receipt of the next SYNC signal (when defined as
synchronous).
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5.3.1 The Mapping Trigger – Transmission Type

The transmission of a TPDO and RPDO is triggered by an event, which is defined by the
PDO communication parameters: sub-index 2 of objects 0x1800 to 0x1803 (TPDO) and
sub-index 2 of objects 0x1400 to 1403 (RPDO). These object dictionary entries are
transmission types. The data type of the PDO parameter object is described in object
0x20.

PDO transmission types can be one of the following:

Transmission Type Description

0 Synchronous transmission performed once, at next SYNC.
N=1…240 Synchronous transmission performed once per 0 < N ≤ 240
accepted SYNC signals.
254 Asynchronous transmission in response to a manufacturer-
specific event.
255 Asynchronous transmission in response to a device profile (such
as DSP 402).

The Elmo drive treats type 254 and 255 alike.

5.3.2 The Synchronous Trigger

Synchronous triggers are always related to the previous SYNC reception.

The RPDO transmission type is 1. The received message is buffered but actually
transmitted for execution at the next SYNC message. Only one RPDO can be buffered for
synchronous trigger. If another RPDO arrives before the SYNC, it overrides the previous
RPDO without any notification. This method enables the simultaneous synchronization
of executing commands in several drives. When a SYNC arrives, the buffered message is
performed in the next available background cycle (Idle loop). Elmo fast reference objects
(0x2001-0x2004) are executed immediately after reception regardless of transmission
type.

With TPDOs, the message is transmitted according to transmission type value, which can
range from 1 to 240, where 1 indicates on each single SYNC, 2 means every second SYNC
message, and so on.

Note: Objects can receive data from SDOs and RPDOs simultaneously. Be aware
that when this occurs, the results are unpredictable. The final value of the object
may be either the SDO or the RPDO data.
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5.3.3 The Asynchronous Trigger

Asynchronous triggers are defined in the device-specific protocol (such as DSP-402) or by
the Elmo manufacture-specific object 0x2F20.

When the device-specific protocol is used, the transmission type is 255 and the
asynchronous behavior is defined in the object description.

A transmission type of 0 means that the message is transmitted acyclically (not

periodically), after the occurrence of the SYNC, only if an event occurred before the
SYNC.

When the Elmo manufacture-specific object is used, each sub-index of object 0x2F20
defines trigger events for a single TPDO. The settings for the object go into effect only if
the TPDO communication parameters are set to transmission type 254, and if the TPDO is
correctly mapped. The Elmo drive treats transmission type 254 and transmission type 255
alike.

5.3.4 RPDO Error Handling

When an RPDO fails to be interpreted, an emergency message is transmitted.

Several objects may be mapped into the same RPDO. The EMCY message identifies the
objects that failed. A failure occurs when the received data cannot be interpreted or
executed.

In some cases, the Elmo error code is produced and may be included in the EMCY
message.

The general emergency message structure is as follows:

0 Error code
1
2 Error register
3 Elmo error code, for PVT/PT and RPDO messages only (refer to the SimplIQ
Software Manual)
4 Error code data field 1
5
6 Error code data field 2
7

In case of an RPDO:

Error code field: 0x6300

Error register: 0x01

Elmo error code: 0 – RPDO failed without a relative error

> 0: RPDO failed with this error code
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Error code data fields:

The relevant mapped object that failed according to the 32 bits mapping object.

Byte 4-5: Object size, in bits

Byte 6: Sub index
Byte 7: Index

The failed RPDO emergency can be masked by clearing bit 8 in object 0x2F21.

5.3.5 Mapping Parameter Objects

Objects 0x1A00 to 0x1A03 define the mapping for TPDOs. Objects 0x1600 – 0x1603 define
the mapping for RPDOs. The type of PDO mapping parameter is described in object 0x21.

The method of mapping an object is defined in objects 0x1600 - 0x1603.

Example of TPDO mapping:

A drive will transmit the position value (object 0x6064, sub-index 0, INTEGER32), the
PVT buffer head pointer (object 0x2F11, sub-index 0, INTEGER16) and PVT buffer tail
pointer (object 0x2F12, sub-index 0, INTEGER16) per every accepted SYNC signal,
according to the following procedure:

Step Explanation
Set 0 to 0x1A00(0) Stop all emissions of TPDO1.
Set 0x60640020 to Program the position value (object 0x6064) to first 4 bytes of
0x1A00(1) the PDO.
Set 0x2F110010 to Program object 0x2F11 for next 2 bytes (PVT head pointer).
0x1A00(2)
Set 0x2F120010 to Program object 0x2F12 for next 2 bytes (PVT tail pointer).
0x1A00(3)
Set 1 to 0x1800(2) Set transmission type in PDO communication parameters to
“Transmit every SYNC.” Other PDO communication
parameters are not programmable.
Set 3 to 0x1A00(0) Activate the three mapped objects.

In this example, xxxx(y) indicates sub-index y of object xxxx.

A PDO mapping element is a 32-bit bit field (object 0x21), divided as follows:

16-bit index 8-bit sub-index Object length: 8 bits

 CANopen DS 301 Implementation Guide Process Data Objects (PDOs) 5-7
MAN-CAN301IG (Ver. 2.1)

5.3.6 Default Values

Default values of PDO mapping parameters are used at:
ƒ Power up
ƒ NMT communication reset (NMT 82h)
ƒ NMT node reset (NMT 81h)

In these cases, the values of the PDO parameters receive the following:

Receive PDO 1 mapped to the DSP-402 controlword in the following manner:

Index Sub-index Name Default Value

1400h 0h Number of entries 2
1h COB-ID used by PDO 4000027Fh
2h Transmission type 255

Index Sub-index Name Default Value

1600h 0 Number of mapped entries 1
1 Controlword 6040 00 10h

Transmit PDO 1 monitors the drive behavior by transmitting the statusword whenever it
changes (typically after reception of a controlword):

Index Sub-index Name Default Value

1800h 0h Number of entries 3
1h COB-ID used by PDO 4000001FFh
2h Transmission type 255
3h Inhibit time 0

Index Sub-index Name Default Value

1600h 1h Number of entries 1
Statusword 6041 00 10h

Index Sub-index Name Default Value

2F20h 1h TPDO1 asynchronous events 0

Note: The asynchronous transmission of TPDO1 reflects changes performed

3 milliseconds prior to transmission.
CANopen DS 301 Implementation Guide Process Data Objects (PDOs) 5-8
MAN-CAN301IG (Ver. 2.1)

Receive PDO 2 is mapped to the binary interpreter by default. This is done for
compatibility reasons and to enable communication with the Elmo Composer.

Index Sub-index Name Default Value

1401h 0h Number of entries 2
1h COB-ID used by PDO 4000037Fh
2h Transmission type 254

Index Sub-index Name Default Value

1601h 0 Number of entries 1
1 Binary interpreter command 2012 00 40h

Transmit PDO 2 is mapped to the binary interpreter result object, transmitted each time
the binary interpreter completes its processing. The event behavior is set by object
0x2F20, defined in the CANopen Implementation Manual.

Index Sub-index Name Default Value

1801h 0h Number of entries 3
1h COB-ID used by PDO 400002FFh
2h Transmission type 254
3h Inhibit time 0

Index Sub-index Name Default Value

1A01h 1h Number of entries 1
2h Binary interpreter result 2013 00 40h

Index Sub-index Name Default Value

2F20h 2h TPDO2 events 0x8000000
CANopen DS 301 Implementation Guide Emergency (EMCY) 6-1
MAN-CAN301IG (Ver. 2.1)

Chapter 6: Emergency (EMCY)

The Emergency object COB-ID is 0x81 to 0xFF. EMCY objects are fully defined in CiA
DS 301. The structure of the manufacturer-specific emergency message is as follows:

0 Error code
1
2 Error register
3 Elmo error code (refer to SimplIQ Software Manual)
4 Error code data field 1
5
6 Error code data field 2
7

Note: Unused bytes must be set to zero.

6.1 Emergency Configuration

The events listed in this chapter can be configured to indicate which will emit an
emergency message, using object 0x2F21.

6.2 Emergency Codes Related to Failure

SimplIQ digital servo drives issue an emergency code in response to an abnormal
condition. All emergencies can be divided into two groups: those that can be masked and
those that cannot. For a description of emergency codes that can be masked, refer to
object 0x2F21. Emergency codes that cannot be masked are related to PVT/PT motion
and are described in section 6.4.

6.3 Emergency Codes for Motor Faults

For a description of emergencies related to motor faults, refer to object 0x2F21 and to the
MF command section in the SimplIQ Command Reference Manual.

6.4 Emergency Codes Related to PVT/PT Motion

During PT/PVT motion, the servo drive may issue emergency objects in order to indicate
an error or to signal that it is in immediate need of additional data to prevent data queue
underflow.
CANopen DS 301 Implementation Guide Emergency (EMCY) 6-2
MAN-CAN301IG (Ver. 2.1)

The following table lists the supported CAN emergencies. The Emergency error code for
all messages in the table is 0xFF00, and the error register is 0x81.

Error
Code
(Hex) Symbolic Name Reason Data Field
0x56 PVT_QUEUE_LOW Number of valid PVT data Field 1: Write pointer
rows has dropped below Field 2: Read pointer
value stated in MP[5].
0x5B BAD_HEAD_POINTER Write pointer out of physical Value of MP[6]
range [1…64] of PVT table.
MP[6] setting may be wrong.
0x34 PVT_QUEUE_FULL Attempt made to program Field 1: Index of PVT
more PVT points than table entry that could
supported by queue. not be programmed
0x7 BAD_MODE_INIT_DATA Cannot initialize motion due
to bad setup data. Write
pointer is outside range
specified by start pointer and
end pointer.
0x8 MOTION_TERMINATED Mode terminated and motor Field 1: Write pointer
automatically stopped (in Field 2:
MO=1). 1: End of trajectory in
non-cyclic mode
2: Zero or negative
time specified for
motional interval
3: Read pointer
reached write pointer
0xA6 OUT_OF_MODOLU The position is more than 2
Modolu.
Table 6-1: Emergency Codes (PVT/PT Motion)

For more details, refer to object 0x2F21.

CANopen DS 301 Implementation Guide Network Management (NMT) 7-1
MAN-CAN301IG (Ver. 2.1)

Chapter 7: Network Management (NMT)

Only the minimum, required, set of network management (NMT) services is supported
by SimplIQ. NMT commands are used to control the communication state of the servo
drive and to broadcast manufacturer messages to all other connected servo drives.

The following network communication states are supported:

State Description
Unpowered/Initialization Servo drive is not ready, or it is booting. Drive will not
respond to communication and will not transmit anything.
Pre-operational Servo drive boot sequence is complete, but no command has
been received to enter operational mode. The servo drive will
respond to SDO and NMT messages, but not to PDOs.
Operational Servo drive is fully operational, responding to PDO, SDO
and NMT messages.
Stopped Servo drive can respond only to NMT objects (including
heartbeats).
Table 7-1: Network Management (NMT)

Figure 1-1: State diagram of a device

When the servo drive is powered on, it enters the initialization state. After completing the
boot sequence, it automatically enters the pre-operational state. The transition between
pre-operational, operational and prepared states is carried out according to Network
Management (NMT) messages. The COB-ID of an NMT command is always 0.

An NMT message is always two bytes long: the first byte is the command specifier and
the second byte is the ID of the units that are to respond to the message. If the ID is 0, the
NMT message will be executed by the entire set of connected servo drives.
CANopen DS 301 Implementation Guide Emergency (EMCY) 7-2
MAN-CAN301IG (Ver. 2.1)

The following NMT services are supported:

Command Specifier Service

1 Start remote node (go to operational).
2 Stop remote node (go to prepared).
128 (0x80) Enter pre-operational state.
129 (0x81) Reset node (perform full software reset).
130 (0x82) Reset communication (reload communication parameters from
flash, reset CAN software and enter pre-operational state).

Table 7-2: Supported NMT Services

Note: It is recommended that you turn off the motor and kill any user program
before executing NMT 130.
CANopen DS 301 Implementation Guide SYNC and Time Stamp 8-1
MAN-CAN301IG (Ver. 2.1)

Chapter 8: SYNC and Time Stamp

The SYNC message has two uses:
ƒ Synchronize the operation of synchronous PDOs. Only synchronous TPDOs can be
used to transmit data from SimplIQ digital servo drives upon receiving a SYNC
message.
ƒ Synchronize the motion clock of the servo drive with a clock in the network master.
The synchronization is made in conjunction with the Time Stamp message. The
motion clock of the servo drive counts microseconds (regardless of the sampling time
of the drive). It is cyclic and has 32 bits, meaning that it completes a full cycle in 4,295
seconds (approximately 72 minutes). When the motion clocks of all connected servo
drives are synchronized to the motion clock of the master, multiple servo drives can
perform complex synchronized motion with exact timing set by the network master.

The drives are synchronized by the transmission of a SYNC message, whose arrival time
is captured by the drive. Upon reception of the SYNC, the drive latches its internal timer.

A Time Stamp is a 32-bit message that contains the master internal clock as generated
upon receipt of the client’s own SYNC. The Time Stamp causes a clock synchronization
cycle to be executed. The drive uses the Time Stamp as an absolute timer and adjusts its
internal time in relation to the time latched in the last SYNC 1. To synchronize the master
and drive clocks to full precision, the synchronization process is filtered in order to
ensure that the timing jitter of the time stamping process does not adversely affect
motion smoothness. It takes about 200 SYNC-Time Stamp pairs to ensure that all clocks
are fully synchronized.

COB-ID 256 (0x100) is a constant dedicated ID used for this purpose. The master can send
Time Stamps at any time.

A Time Stamp always refers to the previous SYNC message and must come no later than
5 seconds after the relevant SYNC.

1 The highest value to adjust in a single time message is 250 milliseconds.

CANopen DS 301 Implementation Guide Binary Interpreter Commands 9-1
MAN-CAN301IG (Ver. 2.1)

Chapter 9: Binary Interpreter Commands

With CAN, the interpreter commands are sent in binary form and are used for setting
and retrieving all numerical data of the SimplIQ digital servo drives setup. The commands
used by the binary interpreter for CAN communication are very similar to commands of
the ASCII interpreter used for RS-232 communication.

The binary interpreter does not support string operations. Getting and setting strings
may be performed by accessing the appropriate messages via SDOs, using the OS
interpreter. Expressions (such as AC=2*DC+1000) are not supported by the binary
interpreter.

The following table summarizes the main differences between the binary interpreter used
for CAN communication and the ASCII interpreter used for RS-232.

Feature ASCII Interpreter Binary Interpreter

Command length Depends on data. Fixed: 8 bytes for Set commands;
4 bytes for Get commands.
Delimiter ; or <CR> for commands and None.
servo drive responses.
Servo drive Always. Drive does not respond to Set
responses to Set commands. An emergency object
commands is sent if command execution
fails.
Long response Returned by certain No support for returned long
strings commands, such as LS and strings, which are read via SDOs.
BH.
Table 9-1: Comparison of ASCII vs. Binary Interpreter Commands

TPDO2 is mapped by default to the transmit binary interpreter object (0x2012) and
RPDO2 is mapped by default to the receive binary interpreter object (0x2013). TPDO2 is
transmitted as an unsynchronized “Binary Interpreter complete” event.

The binary interpreter supports three types of commands:

ƒ Set value
These commands are eight bytes in length. The transmitted message includes either
the reflection of the Set command or an error code, if a failure has occurred.
ƒ Get value
These commands can be four or eight bytes in length. An 8-byte response includes
the reflection of the command and the resulting numerical value, and an error if a
fault has occurred.
ƒ Execute command
This command can be four or eight bytes in length. An 8-byte response includes the
reflection of the command and the resulting numerical value, and an error if a fault
has occurred.
 CANopen DS 301 Implementation Guide Binary Interpreter Commands 9-2
MAN-CAN301IG (Ver. 2.1)

If an interpreter command cannot be serviced for any reason, bit 6 in byte 3 of TPDO2 is
set on, and byte 4 of the response contains the Elmo error code (refer to the EC command
section of the SimplIQ Command Reference Manual).

9.1 Binary Interpreter Commands and Results

The sequences in this section illustrate the binary interpreter options for setting, querying
and executing commands.

9.1.1 Set and Query Commands

The host (client) sends commands (RPDO2) for setting variables in eight bytes (DLC=8).
The drive (server) transmits the reply (TPDO2) as an asynchronous event of the received
object.

9.1.1.1 RPDO2 Structure

RPDO2 is used to set values for the drive and query (get) values from it. The structure of
the command is as follows:
ƒ Bytes 0 to 3 are the header, which includes the command, command index (when
needed) and data type (float or integer).
ƒ Bytes 4 to 7 are the data, which is always four bytes. The format can be integer or
float. The bytes are interpreted in little endian format (see Appendix).

The following table describes the format in which the host sends commands to the drive:
Byte 0 1 2 3 4-7
Bits 0…7 0…7 0…7 0…5 6 7
Description First Second Index for array See 0: Integer Data in little
command command parameter. 0 for note 1: float endian
character character scalar command format

Note: Bytes 0 and 1, which represent the command character in ASCII, must be
uppercase.

Byte 3, bit 6:
When this bit is set to 1, the drive treats the command as a “query” and not as a “setting.”
In this case, the rest of the data bytes are discarded and the drive replies to the command
according to 4 bytes DLC. For compatibility reasons, bytes 4 to 7 should be 0.
CANopen DS 301 Implementation Guide Binary Interpreter Commands 9-3
MAN-CAN301IG (Ver. 2.1)

Notes:
ƒ In array commands in which the index is used (as in ET[100]), the lowest
significant bits are in byte 2 (bits 0 to 7) and the most significant bits are in
byte 3.
ƒ Always use the bit 7 of byte 3 to indicate the data type (float or integer) in the
transmitted message, even if the numerical data type is known in advance and
given in the reference manual. This enables Elmo to guarantee that the type of
numerical data returned for any interpreter command will remain unchanged in
future versions.

Example 1:
CL[1] is set to 1.0, which is 3F800000h in hex IEEE format.
CL[1]=1.0
Byte 0 1 2 3 4 5 6 7
Hex value 43 4C 01 80 00 00 80 3F

Note: Bit 7 in byte 3 is set to 1 to indicate that the value is float.

Example 2:
AC is set to 150,000 (0249F0h):
AC=150000

Byte 0 1 2 3 4 5 6 7
Hex value 41 43 0 0 F0 49 02 0

Example 3:
AC is queried and the DLC is 4:
AC

Byte 0 1 2 3
Hex value 41 43 0 0

Example 4:
This is the same query as in Example 3, but with a DLC of 8 (“Byte 3, bit 6” note).
AC

Byte 0 1 2 3 4 5 6 7
Hex value 41 43 0 40 0 0 0 0

In both Example 3 and Example 4, the reply from the server is:
Byte 0 1 2 3 4 5 6 7
Hex value 41 43 0 0 F0 49 02 0
CANopen DS 301 Implementation Guide Binary Interpreter Commands 9-4
MAN-CAN301IG (Ver. 2.1)

Example 5:
CA[18] = 4096 (1000h) (18 in decimal - 12h in hex)

Byte 0 1 2 3 4 5 6 7
Hex value 43 41 12 0 0 10 0 0

Example 6:
In this example, the server replies to the command ET[992] (3E0h), assuming that the
value is 32121 (7D79h). This is done to query the DLC 8 format (bit 6 in byte 3 is set):
ET[992] (3E0h)

Byte 0 1 2 3 4 5 6 7
Hex value 45 54 E0 43 0 0 0 0

The server replies as follows:

Byte 0 1 2 3 4 5 6 7
Hex value 45 54 E0 03 79 7D 0 0

9.1.1.1 TPDO2 Structure

The server (drive) replies (TPDO2) to query and set requests in eight bytes (DLC=8):
ƒ Bytes 0 to 3 are the header, which includes the responding command, command
index (when needed) and data type (float or integer). It also indicates whether the
response data is true data or an error code.
ƒ Bytes 4 to 7 are data, which is either a reflection of the host Set command or an error
code according to the EC command.
Byte 0 1 2 3 4-7
Bits 0…7 0…7 0…7 0…5 6 7
Description First Second Index for array See 0: Valid data or
character character parameter. 0 for note. Integer error code. Little
scalar command 1: Float endian format.

The server replies as follows:

Byte 0 1 2 3 4 5 6 7
Hex value 45 54 E0 03 79 7D 0 0

Note: Bytes 0 and 1 represent the command character and must be uppercase.

Byte 3, bit 6:
When this byte is 1 for TPDO, the data in bytes 4 to 7 should be interpreted as an error
code. Refer to the EC command section in the SimplIQ Command Reference Manual for
details.

Note: In array commands in which the index is used (as in ET[100]), the lowest
significant bits are in byte 2 (bits 0 to 7) and the most significant bits are in byte 3.
 CANopen DS 301 Implementation Guide Binary Interpreter Commands 9-5
MAN-CAN301IG (Ver. 2.1)

Example:
The server replies to the command CA[1]=4, which is out of range: error code 21 (15h).
Byte 0 1 2 3 4 5 6 7
Hex value 43 41 01 40 15 0 0 0

9.1.2 Execute Command

These commands are used to instruct the drive to perform a sequence. The reply to these
commands is only an acknowledgement or an error code; there is no value for executing
command. Execute commands are a unique case of RPDO2, which can be used with a
DLC of either 4 or 8.
Example:
BG command, to start a motion.
DLC4:
Byte 0 1 2 3
Hex value 42 47 0 0

DL8:
Byte 0 1 2 7
Hex value 42 47 0 0

The reply is always eight bytes long and indicates either success or failure (error).
Success
Byte 0 1 2 3 4 5 6 7
Hex value 42 47 0 0 0 0 0 0

Failure: error code 58 (3Ah) for “Motor must be on”

Byte 0 1 2 3 4 5 6 7
Hex value 42 47 0 40 3A 0 0 0
CANopen DS 301 Implementation Guide Binary Interpreter Commands 9-6
MAN-CAN301IG (Ver. 2.1)

9.2 ASCII Interpreter Commands not Supported

by Binary Interpreter
Commands that deal with strings are not accessible using the binary interpreter. In most
cases, these strings may be accessed using the OS interpreter prompt.

Command Description Alternative

VR Detailed software version string. Use OS prompt instead of SDO
to read object 0x100a.
CD CPU dump in case of fatal exception. Use OS prompt.
LS/DL List/download from serial flash. Use OS prompt.
DF Download firmware version. Use SDO to write object 0x2090.
BH Bring recorded value. Use SDO to read object 0x2030.
XC##\XQ## Execute user program. Use OS prompt.
Figure 9-1: Some of Commands not Available to Binary Interpreter

The binary interpreter cannot handle expressions, which must be dealt with using the OS
interpreter.
CANopen DS 301 Implementation Guide The OS Prompt Interpreter 10-1
MAN-CAN301IG (Ver. 2.1)

Chapter 10: The OS Interpreter

The OS interpreter is used to process any SimplIQ interpreter string command, and to
return the string results. The only limitation in its use is that the returned strings cannot
exceed 500 characters in length, a limit that must be considered when uploading recorded
data. A more efficient — and unlimited — method to upload recorder data is to use
object 0x2030.

To issue an OS interpreter command

1. Set OS mode to evaluate the string immediately, by writing 0 to object 0x1024.
2. Write the command string to object 0x1023, sub-index 1.

The command execution can be resolved by an event-driven PDO (object 0x2F20) or by

polling object 0x1023, sub-index 2. The polling may return:
ƒ 0xFF: Command still executing (can be aborted by writing 3 to object 0x1024).
ƒ 0x1: Command successfully executed. Result is waiting for read.
ƒ 0x3: Command rejected. Error code waiting for read.

When the response is ready, it can be read from object 0x1023, sub-index 3.

Example:
The following describes the use of the OS interpreter to send the command PX=1234.
Client initiates OS Evaluate Immediately mode:
RSDO Object 0x1024
23 24 10 00 00 00 00 00

Server replies:
TSDO Object 0x1024
60 24 10 00 00 00 00 00

Client initiates segmented SDO download:

RSDO Object 0x1023 Sub-index
21 23 10 01 00 00 00 00

Server replies:
TSDO Object 0x1023 Sub-index
60 23 10 01 00 00 00 00

Client sends PX=1234 in one SDO:

RSDO P X = 1 2 3 4
01 50 58 3D 31 32 33 34
CANopen DS 301 Implementation Guide The OS Prompt Interpreter 10-2
MAN-CAN301IG (Ver. 2.1)

Server acknowledges that the RSDO was received OK:

TSDO
20 00 00 00 00 00 00 00

Client gets PX value from OS interpreter (assuming OS was already defined as “Evaluate
Immediately”:
RSDO Object 0x1023 Sub 1 P X
23 23 10 01 50 58 00 00

Server acknowledges that the RSD0 was received OK:

TSDO Object 0x1023
60 23 10 01 00 00 00 00

Client queries status of command:

RSDO Object 0x1023 Sub-index
40 23 10 02 00 00 00 00

Server replies that command was executed and that the result is waiting:
TSDO Object 0x1023 Sub-index Execute OK
42 23 10 02 01 00 00 00

Client queries for reply value:

RSDO Object 0x1023 Sub-index
42 23 10 03 00 00 00 00

Server replies with value of valid PX:

TSDO Object 0x1023 Sub-index 1 2 3 4
43 23 10 03 31 32 33 34
CANopen DS 301 Implementation Guide The EDS 11-1
MAN-CAN301IG (Ver. 2.1)

Chapter 11: The EDS

The Electronic Data Sheet (EDS) assists CANopen configuration personnel in
determining which objects a CAN slave supports. The EDS has a standard format that is
explained in CiA DS 301, version 4. This document defines an optional read-only object
used to upload the EDS directly from the CAN slave.
ƒ Object 0x1021 is the EDS, stored as an ASCII string – future implementation
ƒ Object 0x1022 defines the EDS compression style, which must be 0, for No
compression - future implementation

The EDS is loaded to the internal serial flash memory of the SimplIQ digital servo drive as
part of the firmware download process – future implementation
CANopen DS 301 Implementation Guide Device-specific Objects 12-1
MAN-CAN301IG (Ver. 2.1)

Chapter 12: Communication Profile

1000h: Device type
1001h: Error register
1002h: Manufacturer status register
1003h: Predefined error field
1005h: COB-ID SYNC message
1008h: Manufacturer device name
1009h: Manufacturer hardware version
100Ah: Manufacturer software version
100Bh: Node ID
1012h: COB-ID time stamp
1013h: High-resolution time stamp
1014h: COB-ID emergency object
1017h: Producer heartbeat time
1018h: Identity object
1021h: Store EDS (not implemented)
1022h: EDS storage format (not implemented)
1023h: OS command and prompt
1024h: OS command mode
1029h: Error behavior
1200h: SDO server parameter
1400h - 1403h: Receive PDO communication parameter
1600h - 1603h: Receive PDO mapping
1800h - 1803h: Transmit PDO communication parameter
1A00h - 1A03: Transmit PDO mapping

Object 0x1000: Device type

This object contains information about the device type and functionality. It is comprised
of a 16-bit field that describes the device profile used, and a second 16-bit field that gives
additional information about optional functionality of the device.
MSB LSB
Byte 4 Byte 3 Byte 2 Byte 1
Additional information Device profile number

ƒ Object description:

Index 1000h
Name Device type
Object code VAR
Data type UNSIGNED32
Category Mandatory
CANopen DS 301 Implementation Guide Device-specific Objects 12-2
MAN-CAN301IG (Ver. 2.1)

ƒ Entry description:

Access Read only

PDO mapping No
Value range UNSIGNED32
Default value 0x191

Object 0x1001: Error register

This object is an error register for the device.
ƒ Object description:

Index 1001h
Name Error register
Object code VAR
Data type UNSIGNED8
Category Mandatory

ƒ Entry description:

Access Read only

PDO mapping No
Value range UNSIGNED8
Default value 0

ƒ Data description (M for Mandatory and O for Optional):

Bit M/O Meaning

0 M Generic error
1 O Current
2 O Voltage
3 O Temperature
4 O Communication error (overrun, error state)
5 O Device profile specific
6 O Reserved (always 0)
7 O Manufacturer specific

If a bit is set to 1, the specified error has occurred. The only mandatory error that
must be signaled is the generic error, which is signaled in any error situation.
CANopen DS 301 Implementation Guide Device-specific Objects 12-3
MAN-CAN301IG (Ver. 2.1)

Object 0x1002: Manufacturer status register

This object is a common status register for manufacturer-specific purposes. It returns the
status similar to the SR command.
ƒ Object description:

Index 1002h
Name Manufacturer status register
Object code VAR
Data type UNSIGNED32
Category Optional

ƒ Entry description:

Access Read only

PDO mapping Yes
Value range UNSIGNED32
Default value

Object 0x1003: Pre-defined error field

This object holds the errors that have occurred in the device and have been signaled via
the Emergency object. In doing so, it provides an error history. The entry at sub-index 0
contains the number of actual errors recorded in the array, starting at sub-index 1. It can
read 0 if no error is registered, or 1 if an error is registered. The present version of SimplIQ
digital servo drives store one error at the most.

Writing a 0 to sub-index 0 empties the array. Values higher than 0 are not allowed, in
order to prevent an Abort message (error code: 0609 0030h).

The error numbers are of type Unsigned32 and are composed of a 16-bit error code, an
8-bit error register and an 8-bit additional error information field, which is manufacturer-
specific. The error code is contained in the lower two bytes (LSB) and the additional
information is included in the upper two bytes (MSB). The pre-defined error field has the
following structure:
MSB LSB
Bits 24…31 Bits 16…23 Bits 0…15
Manufacturer-specific Error register Error code
error code

For error code and error register values, see object 0x2F21.
CANopen DS 301 Implementation Guide Device-specific Objects 12-4
MAN-CAN301IG (Ver. 2.1)

ƒ Object description:

Index 1003h
Name Pre-defined error history
Object code ARRAY
Data type UNSIGNED32
Category Mandatory

ƒ Entry description:

Sub-index 0
Description Number of actual errors
Entry category Mandatory
Access Read/Write
PDO mapping No
Value range UNSIGNED8
Default value 0

Sub-index 1
Description Standard error field
Entry category Mandatory
Access Read only
PDO mapping No
Value range UNSIGNED32
Default value 0

Object 0x1005: COB-ID SYNC message

This object defines the COB-ID of the synchronization object (SYNC). It also defines
whether or not the device generates the SYNC. The structure of the object is as follows:
MSB LSB
Bits 31 30 29 28 - 11 10 - 0
11-bit ID X 0/1 0 000000000000000000 11-bit identifier
CANopen DS 301 Implementation Guide Device-specific Objects 12-5
MAN-CAN301IG (Ver. 2.1)

ƒ Description of SYNC COB-ID entry:

Bit Number Value Meaning

31 (MSB) X Do not care
30 0 Device does not generate SYNC message
1 Device generates SYNC message
29 0 11-bit ID (CAN 2.0A)
1 29-bit ID (CAN 2.0B)
28 - 11 0 If bit 29 = 0
X If bit 29 = 1: bits 28 - 11 of 29-bit SYNC COB-ID
10 - 0 (LSB) X Bits 10 - 0 of SYNC COB-ID

Bits 29 and 30 are static (unchangeable). Any attempt to modify this object will result
in an Abort message. Object description:
Index 1005h
Name COB-ID SYNC
Object code VAR
Data type UNSIGNED32
Category Mandatory

ƒ Entry description:

Access Read only

PDO mapping No
Value range UNSIGNED32
Default value 0x80

According to CiA DSP 301, the 0x1005 object has read/write access, although it
only has read access with SimplIQ digital servo drives .

Object 0x1008: Manufacturer device name

This object contains the manufacturer device name, such as “Harmonica”.
ƒ Object description:

Index 1008h
Name Manufacturer device name
Object code VAR
Data type VISIBLE STRING
Category Optional
CANopen DS 301 Implementation Guide Device-specific Objects 12-6
MAN-CAN301IG (Ver. 2.1)

ƒ Entry description:

Access Read only

PDO mapping No
Value range
Default value

Object 0x1009: Manufacturer hardware version

This object contains the version number of the manufacturer’s hardware. The WS[30]
command contains the hardware version as a 32-bit unsigned integer, while this object
conveys the information as a hexadecimal number. For example, if WS[30] is equal to
0x1FF6B, the string returned by this object will be 0x1FF6B.
ƒ Object description:

Index 1009h
Name Manufacturer hardware
version
Object code VAR
Data type VISIBLE STRING
Category Optional

ƒ Entry description:

Access Read only

PDO mapping No
Value range
Default value No

Object 0x100A: Manufacturer software version

This object contains the version identification of the manufacturer’s software.
ƒ Object description:

Index 100Ah
Name Manufacturer software version
Object code VAR
Data type VISIBLE STRING
Category Optional
CANopen DS 301 Implementation Guide Device-specific Objects 12-7
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ƒ Entry description:

Access Read only

PDO mapping No
Value range No
Default value No

Object 0x100B: Node ID

This object contains the node ID of the drive. If the node ID is changed, the object will
return the updated value only after Reset Communication and Start Communication
NMT messages have been sent.
ƒ Object description:

Index 100Bh
Name Node ID
Object code VAR
Data type UNSIGNED8
Category Optional

ƒ Entry description:

Access Read only

PDO mapping No
Value range 1…127
Default value No

Object 0x1010: Save parameters

This object is used to save parameters in non-volatile memory. Through read access, the
drive provides information about its save capabilities, using:
ƒ Sub-index 0: Largest supported sub-index
ƒ Sub-index 1: Save all parameters

In order to avoid accidental storage, storage is only executed when a specific signature —
“save” — is written to the appropriate sub-index.
MSB LSB
“e” “v” “a” “s”
65H 76H 61H 73H
CANopen DS 301 Implementation Guide Device-specific Objects 12-8
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ƒ Object description:

Index 1010h
Name Store parameters
Object code RECORD
Data type UNSIGNED32
Category Optional

ƒ Entry description:

Sub-index 0
Description Largest supported sub-index
Entry category Mandatory
Access Read only
PDO mapping No
Value range UNSIGNED8
Default value 1

Sub-index 1
Description Save all parameters
Entry category Mandatory
Access Read/Write
PDO mapping No
Value range UNSIGNED32
Default value No

Object 0x1011: Restore parameters

This object is used to restore parameters from non-volatile memory. Through read access,
the drive provides information about its restore capabilities, using:
ƒ Sub-index 0: Largest supported sub-index
ƒ Sub-index 1: Restore all parameters

In order to avoid accidental storage, restore is only executed when a specific signature —
“load” — is written to the appropriate sub-index.
MSB LSB
“d” “a” “o” “l”
64H 61H 6FH 6CH
CANopen DS 301 Implementation Guide Device-specific Objects 12-9
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ƒ Object description:

Index 1011h
Name Restore parameters
Object code RECORD
Data type UNSIGNED32
Category Optional

ƒ Entry description:

Sub-index 0
Description Largest supported sub-index
Entry category Mandatory
Access Read only
PDO mapping No
Value range UNSIGNED8
Default value 1

Object 0x1012: COB-ID time stamp

This object defines the COB-ID of the Time Stamp object (TIME). It also indicates whether
the devices consumes or generates the TIME. The structure of the object is as follows:
MSB LSB
Bits 31 30 29 28 - 11 10 - 0
11-bit ID 0/1 0/1 0 000000000000000000 11-bit identifier
29-bit ID 0/1 0/1 1 29-bit identifier

ƒ Description of COB-ID time stamp entry:

Bit Number Value Meaning
31 (MSB) 0 Devices does not consume TIME message
1 Device consumes TIME message
30 0 Device does not produce TIME message
1 Device produces TIME message
29 0 11-bit ID (CAN 2.0A)
1 29-bit ID (CAN 2.0B)
28 - 11 0 If bit 29 = 0
X If bit 29 = 1: bits 28 - 11 of 29-bit TIME COB-ID
10 - 0 (LSB) X Bits 10 - 0 of TIME COB-ID

Bits 29 and 30 are static (unchangeable). The value of this object cannot be modified.
Writing the default COB-ID of the time stamp will not cause an abort code.
CANopen DS 301 Implementation Guide Device-specific Objects 12-10
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Object description:
Index 1012h
Name COB-ID time stamp message
Object code VAR
Data type UNSIGNED32
Category Optional

ƒ Entry description:

Access Read/Write
PDO mapping No
Value range UNSIGNED32
Default value 100h

According to CiA DSP 301, the 0x1012 object has read/write access, although it
only has read access with SimplIQ digital servo drives.

Object 0x1013: High-resolution time stamp

This object contains a time stamp with a 1-microsecond resolution.
ƒ Object description:

Index 1013h
Name High resolution time stamp
Object code VAR
Data type UNSIGNED32
Category Optional

ƒ Entry description:

Access Read/Write
PDO mapping No
Value range 0…0xFFFFFFFF
Default value 0
CANopen DS 301 Implementation Guide Device-specific Objects 12-11
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Object 0x1014: COB-ID emergency object

This object defines the COB-ID of the Emergency object (EMCY). The structure of the
object is as follows:
MSB LSB
Bits 31 30 29 28 - 11 10 - 0
11-bit ID 0/1 0 0 000000000000000000 11-bit identifier
29-bit ID 0/1 0 1 29-bit identifier

ƒ Description of EMCY COB-ID entry:

Bit Number Value Meaning
31 (MSB) 0 EMCY exists / is valid
1 EMCY does not exist / is invalid
30 0 Reserved (always 0)
29 0 11-bit ID (CAN 2.0A)
1 29-bit ID (CAN 2.0B)
28 - 11 0 If bit 29 = 0
X If bit 29 = 1: bits 28 - 11 of 29-bit EMCY COB-ID
10 - 0 (LSB) X Bits 10 - 0 of EMCY COB-ID
ƒ

ƒ Object description:

Index 1014h
Name COB-ID emergency message
Object code VAR
Data type UNSIGNED32
Category Mandatory

ƒ Entry description:

Access Read only

PDO mapping No
Value range 0x81…0xFFFFFFFF
Default value 0x81
CANopen DS 301 Implementation Guide Device-specific Objects 12-12
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Object 0x1016: Consumer heartbeat time

The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be
higher than the corresponding producer heartbeat time configured on the device
producing this heartbeat. Monitoring starts after the reception of the first heartbeat. If the
consumer heartbeat time is 0, the corresponding entry is not used. The time period must
be a multiple of 1 ms.

UNSIGNED32
MSB LSB
Bits 31…24 23…16 15…0
Value 0 Node-ID Heartbeat time, in milliseconds
Encoding - Unsigned8 Unsigned16

If more than one consumer heartbeat entry is configured for the same Node ID, the
device aborts the SDO download with abort code 0604 0043h.

ƒ Object description:

Index 1016h
Name Consumer heartbeat time
Object code ARRAY
Data type UNSIGNED32
Category Optional

ƒ Entry description:

Sub-index 0
Description Largest supported sub-index
Entry category Optional
Access Read only
PDO mapping No
Value range 1
Default value 1
CANopen DS 301 Implementation Guide Device-specific Objects 12-13
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Sub-index 1
Description Consumer heartbeat time
Entry category Optional
Access Read/Write
PDO mapping No
Value range UNSIGNED32
Default value No

Object 0x1017: Producer heartbeat time

This object defines the cycle time of the heartbeat, which must be a multiple of
1 millisecond. It is 0 if not used.
ƒ Object description:

Index 1017h
Name Producer heartbeat time
Object code VAR
Data type UNSIGNED16
Category Mandatory

ƒ Entry description:

Access Read/Write
PDO mapping No
Value range UNSIGNED16
Default value 0

Note: The following network states are transmitted in byte 0 of the producer data
frame:
1: Disconnected
4: Stopped
5: Operational
127: Pre-operational
For more details, please refer to NMT states in Chapter 7.
CANopen DS 301 Implementation Guide Device-specific Objects 12-14
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Object 0x1018: Identity object

This object stores the LSS address used for the CAN ID and baud rate setting.
ƒ Object description:

Index 1018h
Name Identity object
Object code RECORD
Data type UNSIGNED32
Category Mandatory

ƒ Entry description:

Sub-index 0
Description Number of entries
Entry category Optional
Access Read only
PDO mapping No
Value range UNSIGNED8
Default value No

Sub-index 1
Description Vendor ID
Entry category Mandatory
Access Read only
PDO mapping No
Value range UNSIGNED32
Default value No

Sub-index 2
Description Product code
Entry category Mandatory
Access Read only
PDO mapping No
Value range UNSIGNED32
Default value No
CANopen DS 301 Implementation Guide Device-specific Objects 12-15
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Sub-index 3
Description Revision number
Entry category Mandatory
Access Read only
PDO mapping No
Value range UNSIGNED32
Default value No

Sub-index 4
Description Serial number
Entry category Mandatory
Access Read only
PDO mapping No
Value range UNSIGNED32
Default value No

Note:

For the sub index 3 - Revision number, Elmo implement the follows protocol:

Major Field (16 bits) Minor Field (16 bits)

1 (0x0001) 1000 (0x03E8)

Example for revision number 0x103E8
Major field, when modified it indicates a big modification with compatibility issues.
Minor field, when modified compatibility remains. The thousands entry means that a big
change was performed (such as a new protocol). The hundreds, tens & single number
indicate minor changes such as engineering version or internal modification.

Object 0x1023: OS command and prompt

This object is used with the OS interpreter (see Chapter 10).
ƒ Object description:

Index 1023h
Name OS command
Object code RECORD
Data type Command Par
Category Optional
CANopen DS 301 Implementation Guide Device-specific Objects 12-16
MAN-CAN301IG (Ver. 2.1)

ƒ Entry description:

Sub-index 0
Description Number of entries
Entry category Optional
Access Read only
PDO mapping No
Value range UNSIGNED8
Default value No

Sub-index 1
Description Command
Entry category Optional
Access Write only
PDO mapping No
Value range String octet
Default value None

Sub-index 2
Description Status:
0: Last command completed, no errors, no
reply
1: Last command completed, reply ready
3: Last command rejected, reply ready
255: Executing
Entry category Optional
Access Read only
PDO mapping No
Value range UNSIGNED8
Default value 0

Sub-index 3
Description Reply
Entry category Optional
Access Read only
PDO mapping No
Value range String octet
Default value None
CANopen DS 301 Implementation Guide Device-specific Objects 12-17
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Object 0x1024: OS command mode

This object is used with the OS interpreter (see Chapter 10).
ƒ Object description:

Index 1024h
Name OS command mode
Object code VAR
Data type UNSIGNED8
Category Optional

ƒ Entry description:

Access Write only

PDO mapping No
Value range UNSIGNED8:
0: Execute next command immediately
1 - 2: Not supported
3: Abort execution
Default value No

Object 0x1029: Error behavior

This object reports the CAN communication state after a heartbeat failure. The value of
the object asserts that after such a failure, the CAN communication state is:
0: Pre-operational (only if current state is operational)
1: No state change
2: Stopped

The default value is 1 (no state change).

ƒ Object description:

Index 1029h
Name Error behavior
Object code ARRAY
Data type UNSIGNED8
Category Optional
CANopen DS 301 Implementation Guide Device-specific Objects 12-18
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ƒ Entry description:

Sub-index 0
Description Number of error classes
Entry category Mandatory
Access Read only
PDO mapping No
Value range 1 to 0xFE
Default value 1

Sub-index 1
Description Communication error
Entry category Mandatory
Access Read/Write
PDO mapping No
Value range UNSIGNED8
Default value 1

Object 0x1200: SDO server parameter

This object is used to describe the SDO used on a device. The data type has the index 22h
in the object dictionary. The number of supported entries in the SDO object record is
specified by sub-index 0h. The values at 1h and 2h specify the COB-ID for this SDO.
Sub-index 3 gives the server of the SDO if the record describes an SDO for which the
device is a client, and it gives the client of the SDO if the record describes an SDO for
which the device is the server. The structure of the SDO COB-ID entry is as follows:
MSB LSB
Bits 31 30 29 28 - 11 10 - 0
11-bit ID 0/1 0 0 000000000000000000 11-bit identifier
29-bit ID 0/1 0 1 29-bit identifier

ƒ Description of SDO COB-ID entry:

Bit Number Value Meaning
31 (MSB) 0 SDO exists / is valid
1 SDO does not exist / is invalid
30 0 Reserved (always 0)
29 0 11-bit ID (CAN 2.0A)
1 29-bit ID (CAN 2.0B)
28 - 11 0 If bit 29 = 0
X If bit 29 = 1: bits 28 - 11 of 29-bit SDO COB-ID
10 - 0 (LSB) X Bits 10 - 0 of SDO COB-ID
CANopen DS 301 Implementation Guide Device-specific Objects 12-19
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An SDO is valid only if both SDO valid bits are 0. These objects contain the parameters
for which the SDO is the server. This entry is read only. 2 COB-IDs cannot be changed.
ƒ Object description:

Index 1200h
Name Servo SDO 1 Parameter
Object code RECORD
Data type SDO Parameter (object 0x22)
Category Optional

ƒ Entry description:

Sub-index 0
Description Number of entries
Entry category Optional
Access Read only
PDO mapping No
Value range 2
Default value 2

Sub-index 1
Description COB-ID client → server (Rx)
Entry category Optional
Access Read only
PDO mapping No
Value range 0x601…0x67F
Default value 0x601

Sub-index 2
Description COB-ID client → server (Tx)
Entry category Optional
Access Read only
PDO mapping No
Value range 0x581…0x5FF
Default value 0x581

2 Ensure that the COB-IDs of the default SDO cannot be manipulated by writing to the OD.
CANopen DS 301 Implementation Guide Device-specific Objects 12-20
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Objects 0x1400 - 0x1403: Receive PDO communication parameter

ƒ Object description:

Index 1400h - 1403h

Name Receive PDO Parameter
Object code RECORD
Data type PDO CommPar (object 0x20)
Category Conditional: mandatory for each supported PDO

ƒ Entry description:

Sub-index 0
Description Number of entries
Entry category Optional
Access Read only
PDO mapping No
Value range UNSIGNED8
Default value 2

Sub-index 1
Description COB-ID used by PDO
Entry category Optional
Access Read only
PDO mapping No
Value range UNSIGNED32
Default value Index 1400h: 0x27F
Index 1401h: 0x37F
Index 1402h: 0x47F
Index 1403h: 0x57F

Sub-index 2
Description Transmission type
Entry category Optional
Access Read only
PDO mapping No
Value range UNSIGNED8
Default value 255
CANopen DS 301 Implementation Guide Device-specific Objects 12-21
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Notes:
ƒ Transmission type may be 255, 254 or 1. On an attempt to change the value of
the transmission type to a value that is not supported by the Elmo drive an abort
message (abort code: 0609 0030h) is generated.

Objects 0x1600 - 0x1603: Receive PDO mapping

These objects contain the mapping for the PDOs that the Elmo drive is able to receive.
The sub-index 0h contains the number of valid entries within the mapping record. This
number of entries is also the number of the application variables that are received with
the corresponding PDO.

ƒ Mapping method: (for more information please refer to the “PDO mapping” section
in this manual.
The sub-indices from 1h to number of entries contain the information about the
mapped application variables. These entries describe the PDO contents by their
index, sub-index and length. All three values are hexadecimal coded.

The PDO mapping element is a 32-bit field (object 0x21), divided as follows:
MSB ←⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯→ LSB

Index: 16-bit Sub index: 8-bit Object length: 8 bits

The length of the entry contains the length of the object in bits (1..40h).

If the change in PDO mapping cannot be executed (for example, the PDO length is
exceeded or the SDO client attempts to map an object that cannot be mapped), the
device responds with an Abort SDO Transfer Service.

Sub-index 0 determines the valid number of objects that have been mapped. For
changing the PDO mapping, sub-index 0 must be set to 0 (mapping is deactivated).
On then can the objects be remapped.

When a new object is mapped by writing a sub-index between 1 and 8, if the object
does not exist or it cannot be mapped, the SDO transfer is aborted with the Abort
SDO Transfer Service with abort code 0602 0000h or 0604 0041h. You can configure a
single object without remapping the remaining objects. The previously mapped
objects will not be cleared.

After all objects are mapped, sub-index 0 is set to the valid number of mapped
objects. Then the drive rechecks the mapping integrity. Finally, the PDO is created by
writing to its communication parameter COB-ID. When sub-index 0 is set to a value
greater than 0, the device may validate the new PDO mapping before transmitting the
response of the SDO service. If an error is detected, the Elmo drive transmits the
Abort SDO Transfer Service with abort codes 0602 0000h, 0604 0041h or 0604 0042h.

When sub-index 0 is read, the actual number of valid mapped objects is returned.
CANopen DS 301 Implementation Guide Device-specific Objects 12-22
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ƒ Object description:

Index 1600h - 1603h

Name Receive PDO Mapping
Object code RECORD
Data type PDO Mapping
Category Conditional: mandatory for each supported PDO

ƒ Entry description:

Sub-index 0
Description Number of mapped application object in PDO
Entry category Optional
Access Read/Write
PDO mapping No
Value range UNSIGNED32
Default value 1

Sub-index 1
Description PDO mapping for first and last application object to
be mapped
Entry category Optional
Access Read/Write
PDO mapping No
Value range UNSIGNED32
Default value Object 1600h(1): 0x20010040 (controlword)
Object 1601h(1): 0x20120040 (binary interpreter)
Object 1602h: 0
Object 1603h: 0
Default value 0x581

Notes:
ƒ Up to 8 objects can be mapped to a single RPDO.
ƒ Dummy entries are supported by the Elmo drive.
ƒ The object can be mapped during the PRE OPERATIONAL stage.
ƒ Dynamic mapping is allowed during the OPERATIONAL stage. The SDO client
is responsible for data consistency.
CANopen DS 301 Implementation Guide Device-specific Objects 12-23
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Objects 0x1800 - 0x1803: Transmit PDO communication parameter

ƒ Object description:

Index 1800h - 1803h

Name Transmit PDO parameter
Object code RECORD
Data type PDO CommPar (object 0x20)
Category Conditional: mandatory for each supported
PDO

ƒ Entry description:

Sub-index 0
Description Number of entries
Entry category Optional
Access Read only
PDO mapping No
Value range UNSIGNED8
Default value No

Sub-index 1
Description COB-ID used by PDO
Entry category Optional
Access Object 1800h: Read/Write
Object 1801h: Read/Write
Object 1802h: Read/Write
Object 1803h: Read/Write
PDO mapping No
Value range UNSIGNED32
Default value Index 1800h: 0x400001FF
Index 1801h: 0x400002FF
Index 1802h: 0x400003FF
Index 1803h: 0x400004FF
CANopen DS 301 Implementation Guide Device-specific Objects 12-24
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Sub-index 2
Description Transmission type
Entry category Optional
Access Object 1800h: Read/Write
Object 1801h: Read/Write
Object 1802h: Read/Write
Object 1803h: Read/Write
PDO mapping No
Value range 0…240
Default value 0

Sub-index 3
Description Inhibit time
Entry category Optional
Access Read/Write
PDO mapping No
Value range UNSIGNED16
Default value 0 (no inhibit time between messages)

Sub-index 4
Description Reserved
Entry category
Access
PDO mapping
Value range
Default value

Sub-index 5
Description Event timer
Entry category Optional
Access Read/Write
PDO mapping No
Value range 0 - not used
UNSIGNED16
Default value No
CANopen DS 301 Implementation Guide Device-specific Objects 12-25
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ƒ COB ID used by PDO

Only the default COB and specific Node ID can be written to the drive. An attempt to
write another COB ID will result in an abort (Abort Code 0609 0030h).
ƒ Event time:
When a TPDO transmission type is 254 or 255, an event time can be used. The event
occurs when the time is elapsed. The event time elapse is a multiple of 1 millisecond
of sub-index 5. It causes the transmission of this PDO in addition to other
asynchronous events. The occurrence of an event sets the timer again. A value of 0
disables this function. The transmission of the TPDO has an accuracy with 2
milliseconds.
ƒ Inhibit time:
Inhibit time specifications do not relate to the generating event but to the transmission of
the TPDO. The inhibit time resolution is 100 microseconds. The exact inhibit times are not
very accurate and can actually be up to 2 milliseconds (20 units of inhibit time) longer
than defined by sub-index 3 of this object. For example, if an inhibit time is specified as 10
milliseconds, its actual inhibit time length may vary in the range of [10…12] milliseconds.
Inhibit time restrictions are explained in section 2.4.

Objects 0x1A00 - 0x1A03: Transmit PDO mapping

These objects contain the mapping for the PDOs that the Elmo drive is able to transmit.
Sub-index 0h contains the number of valid entries within the mapping record. This
number of entries is also the number of the application variables that are transmitted
with the corresponding PDO.

For more information about the PDO mapping method, refer to objects 0x1600 - 0x1603.
ƒ Object description:

Index 1A00h - 1A03h

Name Transmit PDO mapping
Object code RECORD
Data type PDO Mapping (object 0x21)
Category Conditional: mandatory for each supported PDO

ƒ Entry description:

Sub-index 0
Description Number of mapped application objects in PDO
Entry category Optional
Access Read only
PDO mapping No
Value range UNSIGNED8
Default value 0
CANopen DS 301 Implementation Guide Device-specific Objects 12-26
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Sub-index 1-8
Description PDO mapping for nth application object to be mapped
Entry category Optional
Access Object 1A00h: Read/Write
Object 1A01h: Read/Write
Object 1A02h: Read/Write
Object 1A03h: Read/Write
PDO mapping No
Value range UNSIGNED32

Notes:
ƒ Up to eight objects can be mapped to a single TPDO.
ƒ Dummy entries are supported by the Elmo drive.
ƒ The object can be mapped during PRE OPERATIONAL stage.
Dynamic mapping is allowed during the OPERATIONAL stage. The SDO client is
responsible for data consistency.
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-1
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Chapter 13: Manufacturer-specific Objects

2001h: PVT data
2002h: PT data
2004h: ECAM data
2012h: Binary interpreter input
2013h: Binary interpreter output
2030h: Recorder data
2040h: Coordinate system group ID
2041h: Amplifier-free running timer
2082h: CAN controller status
208Ah: Begin time
2090h: Firmware download
20A0h: Auxiliary position actual value
20A1h: Main position error
2200h: Digital input
2201h: Digital input low byte
2F00h: User Integer
2F01h: User Float Array
2F01h: ET Array
2F11h: PVT head pointer
2F12h: PVT tail pointer
2F15h: Profile position remaining points
2F20h: PDO events
2F21h: Emergency events
2F22h: Bus off timeout
2F23h: Digital input TPDO event parameters
2F30h: Last time stamp correction
2F31h: Last SYNC time
2F40h: Configuration object

Object 0x2001: PVT data

This object sets PVT data for the PVT motion mode.
ƒ Object description:

Index 2001h
Name PVT data
Object code VAR
Data type PVT DataPar (object 0x40)
Category Optional
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-2
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ƒ Entry description:

Access Write only

PDO mapping Yes
Value range No
Default value No

Notes:
ƒ The transmission type for mapping this object must be 255; otherwise, an Abort
message (code 0604 0043h) will be transmitted.
ƒ When this object is used to feed PVT reference points to the drive while a PVT
motion is executing, the drive automatically enters Online Feed mode, in which
the drive is aware of the position written and takes the following precautions:
ƒ If the feed is too slow, the drive needs to fetch points not yet programmed,
and the motion will abort with a “Queue underflow” emergency.
ƒ If the feed is too fast, so that points not yet used are overstruck, the drive will
reject the feed attempt with a “Queue overflow” emergency.
ƒ The Online Feed mode will continue until at least one setting of PVT parameters
has been completed without using the RPDO.

Object 0x2002: PT data

This object sets PT data for the PT motion mode.
ƒ Object description:

Index 2002h
Name PT data
Object code VAR
Data type PT DataPar (object 0x41)
Category Optional

ƒ Entry description:

Access Write only

PDO mapping Yes
Value range No
Default value No
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-3
MAN-CAN301IG (Ver. 2.1)

Notes:
ƒ The transmission type for mapping this object must be 255; otherwise, an Abort
message (code 0604 0043h) will be transmitted.
ƒ When this object is used to feed PT reference points to the drive while a PT
motion is executing, the drive automatically enters Online Feed mode, in which
the drive is aware of the position written and takes the following precautions:
ƒ If the feed is too slow, the drive needs to fetch points not yet programmed,
and the motion will abort with a “Queue underflow” emergency.
ƒ If the feed is too fast, so that points not yet used are overstruck, the drive will
reject the feed attempt with a “Queue overflow” emergency.
ƒ The Online Feed mode will continue until at least one setting of PT parameters
has been completed without using the RPDO.

Object 0x2004: ECAM data

This object sets ECAM data for the ECAM table entries.
ƒ Object description:

Index 2004h
Name ECAM data
Object code VAR
Data type PT DataPar (object 0x41)
Category Optional

ƒ Entry description:

Access Write only

PDO mapping Yes
Value range No
Default value No

Notes:
ƒ The transmission type for mapping this object must be 255; otherwise, an Abort
message (code 0604 0043h) will be transmitted.
ƒ When this object is used to feed ECAM reference points to the drive, a working
table with a border cannot be used. (Refer to the SimplIQ Software Reference
Manual for more information.)
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-4
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Object 0x2012: Binary interpreter input

This object is a binary interpreter object (refer to Chapter 9 concerning the byte stream).
ƒ Object description:

Index 2012h
Name Binary interpreter
Object code VAR
Data type Binary interpreter query (object 0x42)
Category Mandatory

ƒ Entry description:

Access Read only

PDO mapping Yes
Value range No
Default value No

Object 0x2013: Binary interpreter output

This object is a binary interpreter object (refer to Chapter 9 concerning the byte stream).
ƒ Object description:

Index 2013h
Name Binary interpreter
Object code RECORD
Data type Binary interpreter command (object 0x43)
Category Mandatory

ƒ Entry description:

Access Write only

PDO mapping Yes
Value range No
Default value No
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-5
MAN-CAN301IG (Ver. 2.1)

Object 0x2030: Recorder data

This object is used to retrieve recorder parameters according to RC and the sub-index
field. The 0x1 sub-index fetches the parameter, recorded in RC = (1 << sub-index).
ƒ Object description:

Index 2030h
Name Bring recorded data
Object code RECORD
Data type UNSIGNED32
Category Optional

ƒ Entry description:

Sub-index 0
Description Number of supported elements
Entry category Mandatory
Access Read only
PDO mapping No
Value range UNSIGNED8
Default value 16

Sub-index 1
Description Main speed
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1
Default value

Sub-index 2
Description Main position
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1
Default value
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-6
MAN-CAN301IG (Ver. 2.1)

Sub-index 3
Description Position command
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1
Default value

Sub-index 4
Description Digital input
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1
Default value

Sub-index 5
Description Position error for UM=4, UM=5
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1
Default value

Sub-index 6
Description Torque command
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1
Default value
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-7
MAN-CAN301IG (Ver. 2.1)

Sub-index 7
Description Bus voltage
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1
Default value

Sub-index 8
Description Auxiliary position
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1
Default value

Sub-index 9
Description Auxiliary speed
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1
Default value

Sub-index 0A
Description Active current
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1
Default value
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-8
MAN-CAN301IG (Ver. 2.1)

Sub-index 0B
Description Reactive current
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1
Default value

Sub-index 0C
Description Analog input 1
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1
Default value

Sub-index 0D
Description Reserved
Entry category
Access
PDO mapping
Value range
Default value

Sub-index 0E
Description Current phase A (IA value)
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1.
Default value
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-9
MAN-CAN301IG (Ver. 2.1)

Sub-index 0F
Description Current phase B (IB value)
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1.
Default value

Sub-index 10
Description Speed command
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1.
Default value

Sub-index 0E
Description Current phase A (1A value)
Entry category Mandatory
Access Read only
PDO mapping No
Value range Refer to Table 13-1.
Default value

ƒ The bring data upload process:

The SDO Upload protocol is initiated as outlined in CiA DS 301. After confirmation, a
character stream is transmitted. Each octet must be answered according to the Upload
SDO segmented protocol, except sub-index 0, which returns object-supported entries
in expedited SDO format.

The segmented response is built from the header and data stream.

Note: The sub-index in this object is a value of the RC bit field.

CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-10
MAN-CAN301IG (Ver. 2.1)

The header byte sequence is as follows:

Byte
Number Description Value Type
0-1 Variable type for user. 0: Integer system parameter Byte
Field has no practical 1: Real system parameter
significance. 2: Integer user program
variable
3: Real user program variable
2-3 Data width: number of hex 4: Short integer Byte
character of single transmitted 8: Long integer
data item.
4-7 Data length: actual number of Word
transmitted data items.
Table 13-1: Upload SDO Header Byte

The rest of the byte sequence is the data stream. All bytes are transferred according to
the scheme explained in section 2.9. Sub-index 0 uploads the supported object entries.

Notes:
ƒ If the recorder variables are changed during upload, the process will be aborted.
ƒ This object was removed from the EDS file to enable successful automatic EDS
file testing.

Object 0x2040: Coordinate system group ID

A 7-bit identifier is used for multicasting messages to a set of servo drives. For example, a
network consists of three drives with CAN IDs 1, 2 and 3, and drives 1 and 2 are assigned
a group ID of 4. A CAN master message to slave ID 4 will be received by drives 1 and 2.
Drive 1 will respond with ID 1 and drive 2 will respond with ID 2.

The group ID of a drive may equal its ID. In order to set the group ID, first set object
0x2040, then send the command Reset Communication NMT service, followed by the
Start Remote NMT service. The group ID becomes effective only at the next CAN
network reset (NMT 82h).
ƒ Object description:

Index 2040h
Name ID for synchronized commands
Object code VAR
Data type UNSIGNED8
Category
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-11
MAN-CAN301IG (Ver. 2.1)

ƒ Entry description:

Access Read/Write
PDO mapping No
Value range No
Default value 128

Object 0x2041: Amplifier-free running timer

This object transmits the accurate 32-bit timer of the drive. The timer has a 1-microsecond
resolution that is updated once in a real-time cycle. The accuracy of the report is
1 microsecond and the resolution is real time.

This object is typically used when the host wants to synchronize records for several slave
nodes. It returns the precise time when the synchronous PDO data has been sampled
(refer to Chapter 8).
ƒ Object description:

Index 2041h
Name Drive free-running timer
Object code VAR
Data type UNSIGNED32
Category

ƒ Entry description:

Access Read only

PDO mapping Yes
Value range No
Default value No

Object 0x2082: CAN controller status

This object provides the status of the CAN controller status register.
ƒ Object description:

Index 2082h
Name CAN controller status
Object code VAR
Data type UNSIGNED32
Category Optional
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-12
MAN-CAN301IG (Ver. 2.1)

ƒ Entry description:

Access Read only

PDO mapping Yes
Value range No
Default value No

ƒ Byte stream:
The 32-bit number has the following structure:
Bits 31…24 23…16 15…8 7…0
Description Network status CAN transmit CAN receive CAN receiver
error counter error counter flag

Bits 0 to 7 of the CAN receiver flag are as follows:

Bit Meaning Remarks

0 Not used
1 Overrun flag, set when data overrun 1: Data overrun detected
occurs 0: No data overrun
2 Bus off flag 1: CAN in bus off state
0: No bus off state
3 Transmitter error passive flag, set when 1: CAN in transmitter error
CAN enters error passive state due to passive state
transmit error counter exceeding 127, 0: No transmitter error passive
and bus off flag is clear state
4 Receiver error passive flag, set when 1: CAN in receiver error passive
CAN enters error passive state due to state
receive error counter exceeding 127, 0: No receiver error passive state
and bus off flag is clear.
5 Transmitter warning flag 1: CAN in transmitter warning
state
0: No transmitter warning
6 Receiver warning flag 1: CAN in receiver warning state
0: No receiver warning state
7 Not used
Table 13-2: CAN Receiver Flag Bit 0…7

The CAN receive error counter (bits 8…15) reflects the status of the CAN receive
error counter. The CAN transmit error counter (bits 16…23) reflects the status of the
CAN transmit error counter.

The network status (bits 24…31) may be one of the following values:
5: Operational
127: Pre-operational
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-13
MAN-CAN301IG (Ver. 2.1)

Note: Network states 1 & 4 (disconnect & stop, respectively) can not be retrieved
using the CAN controller status object, since neither the PDO nor the SDO is
communicated. However, the DD command (RS-232 serial communication) can be
used in these cases. The node state can also be retrieved using the Heartbeat
Producer mechanism.

Object 0x208A: Begin time

This object receives an absolute time for a simultaneous Motion Begin (BG). The time
resolution for this object is 1 microsecond. For more information, refer to the BT
command section in the SimplIQ Command Reference Manual and to Chapter 8 of this
manual.
ƒ Object description:

Index 208Ah
Name Begin time
Object code VAR
Data type UNSIGNED32
Category Optional

ƒ Entry description:

Access Read/Write
PDO mapping No
Value range No
Default value No

Object 0x2090: Firmware download

This object is used to download controller firmware using S-record format.
ƒ Object description:

Index 2090h
Name Download firmware
Object code DOMAIN
Data type Visible String
Category Optional

ƒ Entry description:

Access Write only

PDO mapping No
Value range No
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-14
MAN-CAN301IG (Ver. 2.1)

Default value No

After the final character of each S-record line, the host must send the character 0x0A to
indicate end-of-line. The next S-record can be sent immediately after 0xA.

Example:
First, the host initiates an SDO segmented sequence:

Byte 0 Byte 4 Byte 7

20 0x90 0x20 0x00 0x00 0x00 0x00 0x00

After the reply from the drive, the host transmits:

Byte 0 Byte 4 Byte 7
00 “S” “3” “6” “A” “3” “9” “1”

The end-of-line format and the beginning of a new S-record line:

Byte 0 Byte 4 Byte 7
10 “8” “5” 0x0A “S” “6” “0” “B”

Note: This object was removed from the EDS file to enable successful automatic
EDS file testing.

Object 0x20A0: Auxiliary position actual value

This object returns the actual position of the auxiliary axis (PY).
ƒ Object description:

Index 20A0h
Name Auxiliary position
Object code VAR
Data type SIGNED32
Category Optional

ƒ Entry description:

Access Read only

PDO mapping Yes
Value range -109…109
Default value No
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-15
MAN-CAN301IG (Ver. 2.1)

Object 0x20A1: Main position error

This object returns the error between the position command and the actual position (PE).
ƒ Object description:

Index 20A1h
Name Position error
Object code VAR
Data type SIGNED32
Category Optional

ƒ Entry description:

Access Read only

PDO mapping No
Value range -109…109
Default value No

Object 0x2200: Digital input

This object reports an active or non-active state of a digital input. It reflects the value of
the IP command. The function and the logic level of a digital input are associated with
the IL command.

When this object is mapped to a TPDO and the transmission type is set to asynchronous
event, it is transmitted on every change of an input.

The report value of object 0x2200 is similar to the IP command. Please refer to the SimplIQ
Command reference manual.

ƒ Object description:

Index 2200h
Name Digital inputs
Object code VAR
Data type UNSIGNED32
Category Optional

ƒ Entry description:

Access Read only

PDO mapping Yes
Value range 0…0xFFFFFFFF
Default value No
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-16
MAN-CAN301IG (Ver. 2.1)

Object 0x2201: Digital input low byte

This object defines simple digital inputs for drives.

The reflected functions are:

o Negative limit switch – Similar to RLS
o Positive limit switch – Similar to FLS
o Home switch – As reflected in the IL[5] command

ƒ Object description:

Index 2201h
Name Digital inputs low byte
Object code VAR
Data type UNSIGNED8
Category Optional

ƒ Entry description:

Access Read only

PDO mapping Yes
Value range 0…0xFF
Default value 0

ƒ Data description:
7 4 3 2 1 0
Home Positive Negative
Reserved Interlock
switch limit switch limit switch
MSB
The switch must be “active high.”

Notes:
ƒ The interlock is always 0.
ƒ “Active high” means that the bit is set to high when the switch is logically active.
ƒ Different SimplIQ drives support a different number of digital inputs. It is
advised to use only the relevant bits according to the specific drive.
ƒ This object is evaluated every 3 milliseconds.

When mapped as asynchronous, this object is transmitted at every change within the
calculation resolution period. Inhibit time can be used to prevent busload or to control
the time latency causing the same TPDO to be transmitted due to other asynchronous
events.
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-17
MAN-CAN301IG (Ver. 2.1)

Object 0x2205: Analog Input Object

This object returns the value of the analog inputs 1 and 2 in internal units.

The value can be converted to physical units using the WS[91] command. Normally this
factor is: 0.00067139.
ƒ Object description:

Index 2205h
Name Analog Input Object
Object code ARRAY
Data type SIGNED16
Category Optional
ƒ Entry description:

Sub-index 0
Description Number of entries
Entry category Optional
Access Read only
PDO mapping No
Value range 2
Default value 2

Sub-index 1
Description Analog Input 1
Entry category Optional
Access Read only
PDO mapping Yes
Value range SIGNED16
Default value -

Sub-index 2
Description Analog Input 2
Entry category Optional
Access Read only
PDO mapping Yes
Value range SIGNED16
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-18
MAN-CAN301IG (Ver. 2.1)

Default value -

Example:
Host sends SDO request for analog input 2:
Byte 0 1 2 3 4 5 6 7
Hex value 40 05 22 02 00 00 00 00

Assume that the drive answer an SDO expedite message with the following value:
Byte 0 1 2 3 4 5 6 7
Hex value 42 05 22 02 BD FF 00 00

Note: Byte 4 & byte 5 are 16 bits, representing the internal value of analog input 2.

Then the reading obtained is:

0xFFBD (Signed 16) = -67

The value of analog input 2 is:

AN[2] = 0.00067139 * (-67)

AN[2] = -0.04498313 Volts

Object 0x2F00: User Integer

This object provides an array of 24 integer numbers for general-purpose use.

ƒ Object description:

Index 2F00h
Name User Integer
Object code ARRAY
Data type Integer32
Category Optional

ƒ Entry description:

Sub-index 0
Description Number of entries
Entry category Optional
Access Read only
PDO mapping No
Value range 24
Default value 24
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-19
MAN-CAN301IG (Ver. 2.1)

Sub-index 1-24
Description User Array
Entry category Optional
Access Read/write
PDO mapping Yes
Value range [(–230 +1)…(230 –1)]
Default value 0

Object 0x2F01: User Float Array

This object provides an array of 24 floating numbers for general-purpose use.
ƒ Object description:

Index 2F01h
Name User Float Array
Object code ARRAY
Data type Floating Point (Float)
Category Optional

ƒ Entry description:

Sub-index 0
Description Number of entries
Entry category Optional
Access Read
PDO mapping No
Value range 24
Default value 24

Sub-index 1-24
Description User Array
Entry category Optional
Access Read/write
PDO mapping Yes
Value range [-1e20…1e20]
Default value 0
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-20
MAN-CAN301IG (Ver. 2.1)

Object 0x2F02: ET Array

This object enables ECAM table variables (ET[1] to ET[255]) to be loaded.
ƒ Object description:

Index 2F02h
Name ET Array
Object code ARRAY
Data type Integer 32
Category Optional

ƒ Entry description:

Sub-index 0
Description Number of entries
Entry category Optional
Access Read
PDO mapping No
Value range 255
Default value 255
Sub-index 1-255
Description User Array
Entry category Optional
Access Read/write
PDO mapping Yes
Value range
Default value 0

Object 0x2F11: PVT head pointer

This object informs the host of the index location of the last updated PVT message in the
PVT table. According to this information, and with object 0x2F12, the host can determine
the rate and location at which the PVT table should be updated. This object can only be
used when mapped into a synchronized TPDO. It cannot be read or written with an SDO
protocol.
ƒ Object description:

Index 2F11h
Name PVT head pointer
Object code VAR
Data type UNSIGNED16
Category
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-21
MAN-CAN301IG (Ver. 2.1)

ƒ Entry description:

Access Read only

PDO mapping Yes
Value range No
Default value No

Object 0x2F12: PVT tail pointer

This object informs the host of the index of the next read PVT message in the PVT table.
According to this, and object 0x2F11, the host can determine the rate and location at
which the PVT table should be updated. This object can only be used when mapped into
a synchronized TPDO. It cannot be read or written with an SDO protocol.
ƒ Object description:

Index 2F12h
Name PVT tail pointer
Object code VAR
Data type UNSIGNED16
Category

ƒ Entry description:

Access Read only

PDO mapping Yes
Value range No
Default value No

Object 0x2F15: Profile position remaining points

This object indicates the number of points remaining for the profile movement in DSP 402
Profile Position mode, when working in Elmo’s manufacture-specific buffer mode.
ƒ Object description:

Index 2F15h
Name Profile position remaining points
Object code VAR
Data type UNSIGNED16
Category
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-22
MAN-CAN301IG (Ver. 2.1)

ƒ Entry description:

Access Read only

PDO mapping Yes
Value range 0…32
Default value 0

Object 0x2F20: PDO events

This object is used to select the events that cause asynchronous PDOs to be transmitted,
with transmission type 254. PDOs with other transmission types are ignored. Sub-indices
1 to 4 define events for transmitting TPDO1, TPDO2, TPDO3 and TPDO4, respectively.

The event definition for the PDO transmission is a bit field, as follows:
Bit Event
0 Motion complete: MS = 0
1 Main homing complete: HM[1] = 0
2 Auxiliary homing complete: HY[1] = 0
3 Motor shut down by exception: MO = 0
4 Motor started: MO = 1
5 User program “emit” command
6 OS interpreter execution complete
7 Digital input event according to object 0x2F23
8…30 Reserved
31 Binary interpreter command processing complete

Asynchronous TPDOs obey the inhibit time restrictions, as explained in section 2.4.
ƒ Object description:

Index 2F20h
Name PDO events
Object code ARRAY
Data type UNSIGNED32
Category Optional
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-23
MAN-CAN301IG (Ver. 2.1)

ƒ Entry description:

Sub-index 0
Description Number of sub-indices
Entry category Mandatory
Access Read only
PDO mapping No
Value range 4
Default value 4

Sub-index 1
Description Events for PDO1 trigger
Entry category Optional
Access Read/Write
PDO mapping No
Value range 0…0x4FFFFFFF
Default value 0

Sub-index 2
Description Events for PDO2 trigger
Entry category Optional
Access Read only
PDO mapping No
Value range
Default value 0x80000000

Sub-index 3
Description Events for PDO3 trigger
Entry category Optional
Access Read/Write
PDO mapping No
Value range 0…0x4FFFFFFF
Default value 0
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-24
MAN-CAN301IG (Ver. 2.1)

Sub-index 4
Description Events for PDO4 trigger
Entry category Optional
Access Read/Write
PDO mapping No
Value range 0…0x4FFFFFFF
Default value 0

Object 0x2F21: Emergency events

This object selects events as the cause for transmitting emergency objects (see Chapter 6).

The driving event definition for an emergency is a bit field, as follows:

Bit Event Error Code Error Register
0 CAN message lost (corrupted or overrun) 0x8110 0x11
1 Protocol error (unrecognized NMT request) 0x8200 0x11
2 Attempt to access an unconfigured RPDO 0x8210 0x21
3 Heartbeat event 0x8130 0x11
4 Fatal CPU error: stack overflow 0x6180 0x81
5 User program aborted by an error 0x6200 0x81
6 Request by user program “emit” function 0xFF01 0x81
7 Motor shut down by fault See Table 13-3 See Table 13-3
8 Object mapped to an RPDO returned an 0x6300 0x01
error during interpretation or a referenced
motion failed to be performed.
9 DS 402 IP Underflow 0xFF02 0x21

Note: This object does not control certain emergency messages, such as PVT motion
errors. Some of the uncontrolled emergency objects include manufacturer-specific
information.

The manufacturer error field for all controlled emergency messages is zero, except the
user program EMCY() command, in which the program code determines the value of the
field. The argument of the EMCY() function is written as an Unsigned32 number, into
bytes 4 to 7 of the emergency message.
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-25
MAN-CAN301IG (Ver. 2.1)

Notes:
ƒ A “CAN message lost” emergency may indicate an overrun, in which a CAN
message has not been retrieved from the receiver on time. The next message to
the same buffer crashes with the as-yet unread message. Both messages may be
lost in the crash. There may also be more lost messages that go undetected,
because they may have be sent while the message loss indication was on. The
“CAN message lost” message tells where a crash occurred, but it does not tell
how many messages have actually been lost. The emergency message includes
some information about the type of the “lost message” where it can. Data Field 2
in the EMCY objects contains information about the lost message. When the
value is –1, the overrun occurred in the CAN controller hardware buffer. When
the overrun is a software buffer overrun, data field 2 contains the COB-ID of the
last message received and which caused the overrun.
ƒ In case of a failed RPDO, the emergency message with data field 1 and data
field 2 includes the following information.

0 Error code 0x00

1 0x63
2 Error register 0x01
3 Elmo error code, if 0 either EC value
no error or no related error
for this emergency
If > 0, error is according to
the EC command
4 Error code data field 1 Object index
5
6 Error code data field 2 Object sub-index
7 Interpreter error code, similar values as EC
command.

Note: If the profile is executed by the DSP 402 protocol, byte 3 of the Elmo error
code is set to 0xff. The object index and sub-index are according to the failed
profile:
0x607A: profile position
0x60FF: profile velocity
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-26
MAN-CAN301IG (Ver. 2.1)

Motor Fault
Value (MF Error Error
Motor Fault Description Command) Code Register
Resolver or Analog Encoder feedback failed 1 0x7300 0x81
Reserved 1 0x7305 0x21
Reserved 2 0x7306 0x21
Feedback loss: no match between encoder and 4 0x7380 0x81
Hall locations. Available in encoder + Hall
feedback systems
Peak current has been exceeded due to: 8 0x8311 0x21
ƒ Drive malfunction
ƒ Badly-tuned current controller
Disabled by Limit switch 0x10 0x5441 0x21
ECAM table problem 0x20 0x5280 0x81
Two digital Hall sensors changed at once; only 0x40 0x7381 0x81
one sensor can be changed at a time.
Speed tracking error DV[2]-VX (for UM=2, 4 or 5) 0x80 0x8480 0x81
exceeded speed error limit ER[2], due to:
ƒ Bad tuning of speed controller
ƒ Too tight a speed-error tolerance
ƒ Inability of motor to accelerate to required
speed because line voltage is too low, or
motor is not powerful enough
Position tracking error DV[3]-PX (UM5) or 0x100 0x8611 0x21
DV[3]-PY (UM=4) exceeded position error limit
ER[3], due to:
ƒ Bad tuning of position or speed controller
ƒ Too tight a position error tolerance
ƒ Abnormal motor load, a mechanical limit
reached
Cannot start due to inconsistent database. This 0x200 0x6320 0x21
type of database inconsistency is reflected in
status SR report and in CD CPU dump report.
Too large a difference in ECAM table entries. 0x400 0x5280 0x81
Heartbeat failure, occurring only if drive is set to 0x800 0x8130 0x11
“Abort under heartbeat failure” in a CANopen
network (object 0x6007 in CAN object dictionary
set to 1, malfunction).
Cannot find electrical zero of motor when 0x10000 0x8380 0x81
attempting to start motor with an incremental
encoder and no digital Hall sensors. Applied
motor current may not suffice for moving motor
from its place.
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-27
MAN-CAN301IG (Ver. 2.1)

Motor Fault
Value (MF Error Error
Motor Fault Description Command) Code Register
Speed limit exceeded: VX < LL[2] or VX > HL[2] 0x20000 0x8481 0x81
Stack overflow: fatal exception. May occur if CPU 0x40000 0x6180 0x81
cannot handle a real-time load due to too low a
sampling time.
CPU exception: fatal exception. 0x8000 0x6181 0x81
Timing Error 0x100000 0x5281 0x81
Motor stuck: motor powered but not moving 0x200000 0x7121 0x21
according to definition of CL[2] and CL[3].
Position limit exceeded: PX < LL[3] or PX > HL[3] 0x400000 0x8680 0x81
(UM=5), or PY < LL[3] or PY > HL[3] (UM=4).
Reserved 0x8000000 0x1000 0x81
Cannot tune current offsets 0x10000000 0x8381 0x81
Cannot start motor 0x20000000 0xFF10 0x81
Reserved 0x800000 0x8680 0x81
Reserved 0x1000000 0x8312 0x3
Cannot start motor 0x20000000 0x5400 0x21
Under-voltage: power supply is shut down or it 0x3000 0x3120 0x5
has too high an output impedance.
Over-voltage: power-supply voltage is too high 0x5000 0x3310 0x5
or servo drive could not absorb kinetic energy
while braking a load. A shunt resistor may be
required.
Reserved 0x7000 0x3100 0x5
Reserved 0x9000 0x2311 0x3
Short circuit: motor or its wiring may be 0xb000 0x2340 0x3
defective, or drive is faulty.
Temperature: drive overheating. The 0xd000 0x4310 0x9
environment is too hot or heat removal is not
efficient. Could be due to large thermal resistance
between drive and its mounting.
Reserved 0xf000 0x5282 0x81
Table 13-3: Motor Shut Down by Fault Emergency Error Codes
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-28
MAN-CAN301IG (Ver. 2.1)

The following CAN emergencies are supported in PVT/PT modes:

Error Error
Code Code
(Hex) (Dec) Reason Data Field
0x56 86 Queue is low. Number of yet unexecuted Field 1: Write pointer
PVT table rows has dropped below the Field 2: Read pointer
value stated in MP[4].
0x5b 91 Write pointer is out of physical range Value of MP[6]
([1…64]) of PVT table. Reason may be an
improper setting of MP[6].
0x5c 92 PDO 0x3xx is not mapped.
0x34 52 An attempt has been made to program Field 1: Index of PVT table
more PVT points than are available in entry that could not be
queue. programmed
0x7 7 Cannot initialize motion due to bad setup
data. The write pointer is outside the range
specified by the start and end pointers.
0x8 8 Mode terminated and motor has been Data field 1: Write pointer
automatically stopped (in MO=1).
Data field 2:
1: End of trajectory in non-
cyclical mode
2: A zero or negative time
specified for a motion interval
3: Read pointer reached write
pointer
0x9 9 A CAN message has been lost.
Table 13-4: PVT CAN Emergency Messages

Note: Setting a new value for object 0x2F21 deletes all emergency events queued
for transmission.
ƒ Object description:

Index 2F21h
Name Emergency events
Object code VAR
Data type UNSIGNED16
Category
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-29
MAN-CAN301IG (Ver. 2.1)

ƒ Entry description:

Access Read/Write
PDO mapping No
Value range No
Default value 0xFF (all emergencies on)

Object 0x2F22: Bus off time out

This object defines the bus off timeout in milliseconds. If the device enters bus off, it will
attempt to renew CAN communication after the specified time elapses. If the device
recovers the CAN communication, the drive will enter pre-operational state; otherwise, it
will remain disconnected. If the value of the object is set to zero, the timeout is infinite;
that is, the device never recovers from the bus off.

A node goes into bus off state when more than 255 errors have been counted by the
transmitter error counter. If this state, the node cannot participate in the bus activities. A
node in bus off state can become “error active” (no longer in bus off state) with its error
counter set to 0 after 128 occurrences of 11 consecutive recessive bits (logical 1) have been
monitored on the bus.

Note: When object 0x2F22 is 0, the node can never leave bus off state.
ƒ Object description: :

Index 2F22h
Name Bus-off time out
Object code VAR
Data type UNSIGNED16
Category

ƒ Entry description:

Access Read/Write
PDO mapping No
Value range 0…65,535
Default value 500

Object 0x2F23: Digital input TPDO event parameters

When a TPDO is driven by a “digital input event” (DIN event) according to object
0x2F20, this object defines which digital input transitions will activate the TPDO.

Logic digital inputs (logic DINs) are physical or simulated input in values. The polarity
for physical inputs is set according to the IL[N] command and to the debouncer
according to the IF[N] command. The logic DINs are sampled each real-time cycle. The
decisions about an event and its transmission are made in the background.
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-30
MAN-CAN301IG (Ver. 2.1)

The following table lists the values used to define the digital input transitions:
DIN Mask Value DIN Logic Level for Activating an Event
0 No event occurs.
1 Switched from low to high (↑).
2 Switched from high to low (↓).
3 Switched (↑ or ↓).

When a DIN event occurs, the mapped TPDO is transmitted. The DIN mask value is
determined according to a 2-bit field of the digital input.

Example:
The value 0x00A1 sets the DIN4 event to “Event on every switch” and the DIN1 event to
“Switch from low active to high active.” every other digital input switch does not
produce an event:
DIN6 DIN5 DIN4 DIN3 DIN2 DIN1
0 0 0 0 1 1 0 0 0 0 0 1

TPDOs are transmitted only when the following steps are performed:
1. An object is mapped to the relevant TPDO and the transmission type is set to 254.
2. The logic level of the relevant digital input is adjusted (IL[N] command).
3. The event parameter of the input is determined by object 0x2F23.
4. The “digital input event” bit is set in object 0x20F0.

From this point on, as soon as the event occurs, the requested TPDO is transmitted.

Notes:
ƒ If several inputs are selected, a DIN event will occur when at least one of the
selected digital inputs is switched.
ƒ A DIN event occurs according to switch level, regardless of the function selected
for that switch (details given in the IL[N] and IP command sections of the
SimplIQ Command Reference Manual).
ƒ Object description:

Index 2F23h
Name Digital input TPDO event parameters
Object code VAR
Data type UNSIGNED16
Category
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-31
MAN-CAN301IG (Ver. 2.1)

ƒ Entry description:

Access Read/Write
PDO mapping No
Value range 0x0FFF
Default value 0x0FFF (event on every switch)

Object 0x2F30: Last time stamp correction

This object reads the difference between the last Sync time and the last Time Stamp. It
serves to estimate how accurately the internal drive clock is locked onto the master clock.
ƒ Object description:

Index 2F30h
Name Last time stamp correction
Object code VAR
Data type UNSIGNED32
Category

ƒ Entry description:

Access Read only

PDO mapping No
Value range No
Default value No

Object 0x2F31: Last SYNC time

This object is used with the internal microsecond counter of the drive, sampled at the last
SYNC. It is useful when one drive is used to synchronize the entire network. To use this
object for synchronization:
1. Broadcast a SYNC (object 80H).
2. Read this object from one drive (can be mapped to a TPDO).
3. Transmit the accepted value in a Time Stamp object (object 100H).
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-32
MAN-CAN301IG (Ver. 2.1)

ƒ Object description:

Index 2F31h
Name Last SYNC time
Object code VAR
Data type UNSIGNED32
Category

ƒ Entry description:

Access Read only

PDO mapping No
Value range No
Default value 0

Object 0x2F40: Configuration object

This bit field object gives several configuration options to the drive. It resets to 0 after
boot reset and must be set again in such cases
ƒ Object description:

Index 2F40h
Name Configuration object
Object code VAR
Data type UNSIGNED32
Category

ƒ Entry description:

Access Read/Write
PDO mapping No
Value range No
Default value No
ƒ Data description:

Bit 31 1 0

Reserved T Stamp master

ƒ T Stamp master:
The node is defined as a Time Stamp master. The drive’s internal 32-bit, 1-
microsecond resolution global timer is used as the system time stamp. The drive does
not response to Time Stamp messages (COB-ID 0x100 or object 0x1013). In order to
prevent motor jumps, setting this bit is allowed when the motor is off (MO=0).
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-33
MAN-CAN301IG (Ver. 2.1)

Object 0x2F41: DS402 Configuration object

This bit field object gives several configuration options to the DS402 protocol. It resets to
0 after boot reset and must be set again in such cases.
ƒ Object description:

Index 2F41h
Name DS402 Configuration object
Object code VAR
Data type UNSIGNED32
Category

ƒ Entry description:

Access Read/Write
PDO mapping No
Value range No
Default value 0
ƒ Data description:

31 2 1 0

Reserved Start Fast PV mode

Motion
in PP
mode

ƒ Fast PV mode – Bit 0:

Allows fast treatment of the DS402 profile velocity mode. In this case the following
objects are not considered: profile acceleration (0x6083) profile deceleration (0x6084),
polarity (0x607E), acceleration factor (0x6097), velocity limit (0x607F), velocity
encoder factor (0x6094). Any settings of the AC & DC can be done with the Elmo
Binary Interpreter. The target velocity (0x60FF) is considered as counts/sec.
ƒ Start Motion in PP Mode – Bit 1 :

This bit determines the behavior of the profile position (PP) when motion begins.
‘0’ - the motion begins when bit 4 in the control word (New set point) is reset from
‘1’ to ‘0’. ‘0’ is the default value of bit 1 of this Object ( 0x2F41). It maintains
compatibility with previous firmware versions.
“1” - the motion begins when bit 4 in the control word (New set point) is set from ‘0’
to ‘1’.
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-34
MAN-CAN301IG (Ver. 2.1)

Object 0x2F60 – Zero torque threshold

In the DS402 profile torque, it is necessary to define a window around the target torque
‘0’, to obtain a good indication of when the target is reached. By default, this window is
5% of the Current Limit (CL [1]). It is possible to modify the percentage by means of this
object.

Defines the '0' torque (current) for profile torque 'target reached' indication.

In DS402 Profile Torque mode, when the torque command is set to '0', it is possible that
the current feedback may vibrate, thus preventing a steady state. For this case, object
0x2F60 defines a threshold for the '0' value:
ƒ The value is defined as a percentage of the Continuance Current Limit (CL[1]).
ƒ The object units are 'internal unit' form.
ƒ The WS[56] command retrieves the "ampere to internal units" factor.

To calculate the Continuance Current Limit (CL[1]):

Threshold Current [Internal Units] = CL [1] [Internal Units] / Object 0x2F60

CL [1] [Internal Units] = CL [1] [Amperes] * WS [56] [Internals Unit/Amperes]

Example:

If the required window of 2.5 % of our CL [1] and CL [1] is 3 Amps, then according to the
previous formulas:

CL [1] [Internal Units] = 3 Amp * 1358 int units of current/Amp

CL [1] [Internal Units] = 4074 int units of current.

CL [1] [Internal Units][2.5%] = CL [1] [Internal Units] * 0.025

CL [1] [Internal Units][2.5%] = 4074 * 0.025 [Internal Units] = 102 [Internal Units]

This value is the window that we want to apply:

Object 0x2F60 = CL [1] [Internal Units]/Window Current [Internal Units]

Object 0x2F60 = 4074 / 102 = 40

• Manufacturer-specific options

• Object description:
Index 2F60h
Name Zero torque threshold
Object code VAR
Data type UNSIGNED16
Category Optional
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-35
MAN-CAN301IG (Ver. 2.1)

• Entry description:

Access Read/write
PDO mapping No
Value range UNSIGNED16
Default value No

Note: In the situation where the torque command value is not set to '0', a default
threshold of 25%is used.

Object 0x2F70 – CAN Encoder Range

This object defines the range of the CAN Encoder. The low limit is stored in sub-index 1
and the high limit in sub-index 2.

Note: The difference of the limits must be a even numbers.

• Object description:

Index 2F70h
Name Can Encoder Range
Object code ARRAY
Data type UNSIGNED32
Category Optional

• Entry description:

Sub-index 0
Description Number of entries
Entry category Mandatory
Access Read only
PDO mapping No
Value range 2
Default value 2
CANopen DS 301 Implementation Guide Manufacturer-specific Objects 13-36
MAN-CAN301IG (Ver. 2.1)

Sub-index 1
Description Low Limit
Entry category Optional
Access Read/write
PDO mapping No
Value range INTEGER32
Default value No

Sub-index 2
Description Hi Limit
Entry category Optional
Access Read/write
PDO mapping No
Value range INTEGER32
Default value No

Note: This object is applicable to special FW versions.

CANopen DS 301 Implementation Guide Error Control Protocol 14-1
MAN-CAN301IG (Ver. 2.1)

Chapter 14: Error Control Protocol

For node guarding and life guarding, SimplIQ digital servo drives implement the
heartbeat mechanism, as defined by CiA DS 301, version 4.0. With this process, a CAN
slave can monitor other devices to determine if they are active, according to their
periodic heartbeat messages. The CAN slave can send heartbeats to consumers, which
may want to monitor if this slave is active.

Heartbeats are sent from the moment of initialization, even if the slave state is stopped.
Object 0x1016 is a list of heartbeats that must be accepted from external devices. Failure
to accept an expected heartbeat leads to behavior described by object 0x1029 and object
0x6007. Non-acceptance of a consumer heartbeat message at the expected time is called a
“heartbeat event,” which creates an emergency only if the relevant bit of EMCY is set to 1
(see object 0x2F21). A single emergency object may be transmitted per one heartbeat
event. The heartbeat event is reset by one of the following events:
ƒ A new heartbeat message arrives from the producer.
ƒ The heartbeat consumer time object (0x1016) is written.

SimplIQ digital servo drives use a minimal implementation of object 0x1016. The sole
heartbeat that it monitors is that of the network master. Object 0x1017 sets the period for
sending heartbeats.

A heartbeat is a single-byte message, with the following options:

Heartbeat Description
0 Boot-up
4 Stopped
5 Operational
127 Pre-operational

The COB-ID for a heartbeat message is 0x700 + Device ID. For example, a first servo drive
with the unit ID of 1 will have heartbeat COB-ID of 0x701 = 1793.
CANopen DS 301 Implementation Guide Downloading Firmware 15-1
MAN-CAN301IG (Ver. 2.1)

Chapter 15: Downloading Firmware

New firmware versions can be loaded via CAN communications by writing the new
firmware as S-records to object 0x2090. The S-records are written as string SDOs to object
0x2090.

After the firmware is downloaded, the drive continues to communicate using the
previous firmware. If the download fails, a retry is possible.
CANopen DS 301 Implementation Guide Initial CAN Communication Setup 16-1
MAN-CAN301IG (Ver. 2.1)

Chapter 16: Initial CAN Communication

Setup

16.1 Setup Using RS-232

All communication parameters — such as the CAN baud rate for the targets — are
programmed via the PP[N] command. In order to program the communication
parameters, communication must first be established with the servo drive, so that the
RS-232 communication channel, which is always active, can be used. In cases where the
servo drive is programmed to RS-232 parameters that differ form the default, the servo
drive can be forced to its default RS-232 communication parameters, as outlined in the
SimplIQ Software Manual. It is also possible to try all the supported CAN baud rates until
the unit responds.

The following parameters affect CAN communication:

Parameter Description Range
PP[13] Servo drive CAN ID 1…127
PP[14] CAN baud rate 1…8
8: 800,000
7: 50,000
6: 50,000
5: 50,000
4: 100,000
3: 125,000
2: 250,000
1: 500,000
0: 1,000,000
PP[15] CAN group ID 1…127
PP[16] Standard/extended arbitration field Must be zero (only standard
arbitration presently supported)
Table 16-1: CAN Communication Parameters

Setting the PP[13] and PP[14] parameters does not result in immediately changes. In
order to activate the new communication parameters, an NMT reset communication
command must be sent, or the servo drive must be rebooted.

If the servo drive is to be rebooted, either by the NMT command or by a power-on

sequence, the SV (save parameters) command must be used so that the communication
parameters become permanent.

In order to start CAN PDO communication, an NMT network start command must be
issued. Afterwards, the servo drive is in CAN operational state.
CANopen DS 301 Implementation Guide Appendix: Little and Big Endians 16-2
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16.2 Bootup Protocol

This protocol is used to signal that an NMT slave has entered the pre-operational node
state after the initializing state. The protocol uses the same identifier as the error control
protocols.

NMT Master COB-ID = 1792 + Node-ID NMT Slave

0 1

0
indication
Heartbeat
Consumer(s)
indication

One data byte is transmitted with value 0.

CANopen DS 301 Implementation Guide Initial CAN Communication Setup A-1
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Appendix A: Little and Big Endians

The “end” in “endians” refers to the address of the most significant or least significant
byte in a multiple-byte data type (such as short, long or float). The address of big endians
is the most significant byte (the “big” end) while the address of little endians is the least
significant byte (the “little” end).

Example using standard C conventions:

long lType;
short sType[2]
char cType[5] = “ABCD”;

lType = 0x12345678;
sType[1] = 0x1234 ;
sType[2] = 0x5678 ;

Memory structure: big endians (starts with MSB):

00 08
12 34 56 78 - lType
12 34 56 78 - sType
AB CD 0 - cType

Memory structure: little endians (starts with LSB):

00 08
78 56 34 12 - lType
34 12 78 56 - sType
AB CD 0 - cType

The CANopen protocol supports the little endian method; for example, a node replies to
a TPDO with three objects:
Object 1: Signed24 - 0x12ABCD
Object 2: Unsigned32 - 0x123456AB
Object 3: Unsigned8 - 0x1F

The CAN octet will be as follows:

CD AB 12 AB 56 34 12 1F