Description of CANopen-Interface
HYDAC ELECTRONIC GMBH
07.10.2010
Mat. No. 669824
Page 30 of 63
4.7.4.3 Activate bit timing parameters protocol
The given protocol has implemented the
Activate bit timing parameters
service
. The protocol activates the Baud rate which was configured about the
Configure bit timing parameters protocol
and is performed with all LSS
slaves in the network which are in the
Configuration Mode
.
LSS-Master --> LSS-Slave
0
1
2
3
4
5
6
7
COB-ID CS Switch
Delay
[ms]
Reserved by CiA
0x7E5 21 LSB MSB
Switch Delay
The parameter
Switch Delay
defines the length of two delay periods (D1, D2)
with equal length. These are necessary to avoid operating the bus with differing
Baud rate parameters.
After the time D1 and an individual processing duration, the switching internally in
the LSS slave is performed. After the time D2 the LSS slave responses with CAN-
messages and the new configured Baud rate.
It is necessary:
Switch Delay > longest occurring processing duration of a LSS slave
4.7.4.4 Store configuration protocol
The given protocol has implemented the
Store configuration service
. By
means of the LSS master the configured parameters of a single LSS slave in the
network can be stored into the non-volatile memory. Only one device is to be
switched into
Configuration Mode
.
LSS-Master --> LSS-Slave
0
1
2
3
4
5
6
7
COB-ID CS
Reserved by CiA
0x7E5 23
LSS-Slave --> LSS-Master
0
1
2
3
4
5
6
7
COB-ID CS Error Code
Spec. Error
Reserved by CiA
0x7E4 23
Error Code
0:
Protocol successfully completed
1:
Store configuration
not supported
2…254: reserved
255:
application specific error occurred
Specific Error
if Error Code = 255 --> application specific error occurred,
otherwise reserved by CiA
