Elmomc CANopen DSP 305 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 9)

The protocols described below all have the same structure: a specific sequence of

COBs are exchanged between the LSS Master and LSS Slave for a particular LSS

service. Requesting Messages use COB-ID 7E5h while Response Messages use COB-ID

7E4h.

LSS uses Command Specifiers (CS) to identify the commands. CSs from 00 - 03fh are

reserved for use by the LMT. 040h - 07fh are reserved for use by standard LSS

services. Command Specifiers 080h – 0ffh are free for application specific purposes,

but may only be used with one Slave in Configuration Mode at a time.

In the COB data format bytes are numbered from 0 to 7. Bits within a byte are also

numbered from 0 to 7 with bit 0 being the least significant bit (LSB), and 7 the most

significant (MSB).

3.2 Switch Mode Services

Switch Mode Services controls the mode of LSS Slaves. There are two ways to put an

LSS Slave into configuration mode, with Switch Mode Global and with Switch Mode

Selective. Switch Mode Selective switches one LSS Slave between configuration and

operation mode. Switch Mode Global switches all LSS Slaves between configuration and

operation mode.

If the Node-ID of a slave is changed with the LSS ‘Configure Node-ID’ service, a

Switch Mode Global with the operation_mode parameter causes a power-on-like reset

of the LSS Slave to force a change in the slave’s default set-up parameters.

3.2.1 Switch Mode Global

This service is used to switch all LSS Slaves in the network between operation mode

and configuration mode.

04 00 reserved for future use by CiA

012345678

COB-ID = 7E5h

CS mode

Figure 3-2 Switch all Slaves to Operation Mode

04 01 reserved for future use by CiA

012345678

COB-ID = 7E5h

CS mode

Figure 3-3 Switch all Slaves to Configuration Mode

CANopen DSP 305 Implementation Guide

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Elmomc CANopen DSP 305 Implementation Guide Manuel d'utilisateur Page 9