Connections and Interfaces
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10.2.6.3
Changing the device into the Stopped Mode
Bus sharing units in the Stopped Mode are passive participants. In this mode all the communication is turned off,
except the monitoring activity (e.g. heartbeat).
The following CAN-message causes the change of all CANopen participants into the Stopped Mode:
02 00
DLC:
ID:
000
2
Changing all participants into Stopped Mode
Master
CANopen
device
Figure 24: Changing the device into the Stopped Mode
10.2.7
LSS Configuration
Basic settings like node-ID and baud rate have to be adjusted with the Layer Setting Services (LSS).
10.2.7.1
Changing into the LSS Configuration Mode
In order to be able to change the Parameter (node-ID, bit rate), the device has to be changed into the LSS Con-
figuration Mode.
ATTENTION!
With the following command all the bus sharing units which are in the Stopped Mode are
changed into the LSS Configuration Mode. Use this command, if only one device is connected
to the bus, because other devices could be affected in their function.
The following CAN-message causes the change into the LSS Configuration Mode.
04 01 00 00 00 00 00 00
DLC:
ID:
7E5
8
Changing all participants into LSS Configuration Mode
Master
CANopen
device
Figure 25: Changing into the LSS Configuration
10.2.7.2
Saving the Parameters in the LSS Mode
In order not to lose the changes in case of a power failure, they have to be saved in the non-volatile memory of
the CANopen device.
The following figure shows the necessary message for this procedure.
Saving the parameters
17 00 00 00 00 00 00 00
DLC:
ID:
7E5
8
ID:
DLC:
7E4
8
17 00 00 00 00 00 00 00
Master
CANopen
device
Figure 26: Saving the parameters in the LSS Mode
