Printed in the Federal Republic of Germany
TR-Electronic GmbH 2010, All Rights Reserved
01/20/2017
TR - ELA - BA - DGB - 0016 - 04
Page 123 of 183
3.8.4.3 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 LMT
slaves in the network which are in the
Configuration Mode
.
LMT-Master --> LMT-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 LMT slave is performed. After the time D2 the LMT slave responses with CAN-
messages and the new configured Baud rate.
It is necessary:
Switch Delay > longest occurring processing duration of a LMT slave
3.8.4.4 Store configuration protocol
The given protocol has implemented the
Store configuration service
. By
means of the LMT master the configured parameters of a single LMT slave in the
network can be stored into the non-volatile memory. Only one device is to be switched
into
Configuration Mode
. When the protocol is executed the LMT slave will be
reset, an emergency with COB-ID 0x80 + Node-ID and error code 0x00FF 00FF is
transmitted. The LMT slave is switched into
PRE-OPERATIONAL
state.
LMT-Master --> LMT-Slave
0
1
2
3
4
5
6
7
COB-ID
CS
Reserved by CiA
0x7E5
23
LMT-Slave --> LMT-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
