BUDE_Manual-CANopen_EN.doc
19/55
Baumer Hübner GmbH
23.10.2012/bja
Berlin, Germany
3.3.7
Layer Setting Services
In the spring of 2000, CiA drafted a new protocol intended to ensure standardized occurrence. The
procedure is described under
Layer Setting Services and Protocol, CiA Draft Standard Proposal 305
(LSS).
The encoder is supplied by us as standard with the node ID 1 and a baud rate of 50 kBaud. Several
encoder/converter can be connected to the bus system with the same node ID. To allow individual
encoder/converter to be addressed, LSS is used.
Each encoder/converter is fitted with its own unique serial number and is addressed using this number. In
other words, an optional number of encoder/converter with the same node ID can be connected to one bus
system, and then initialized via LSS. Both the node ID and also the baud rate can be reset. LSS can only be
executed in the
Stopped Mode
.
Message structure
COB ID:
Master
Slave
: 2021 = 7E5h
Master
Slave
: 2020 = 7E4h
After the COB ID, an LSS command specifier is transmitted.
This is followed by up to seven attached data bytes.
COB ID cs
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Switch Mode Global
7E5h
04h
Mode
Reserved
Mode : 0
Operation mode
1
Configuration mode
Selective switch mode
The following procedure can be used to address a certain encoder in the bus system.
7E5h
40h
Vendor ID
reserved
7E5h
41h
Product code
reserved
7E5h
42h
Revision number
reserved
7E5h
43h
Serial number
reserved
7E4h
44h
Mode
reserved
Vendor Id
: ECh
Product code
: Internal product code for the respective encoder
Revision number : Current revision number of the encoder
Serial number
: Unique, consecutive serial number
Mode
: The encoder's response is the new mode (0=operating mode; 1=configuration mode)
