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17
Change the Node ID and bit rate via LSS
Using the layer setting service (LSS) an LSS master can change the Node ID and
bit rate of the device (LSS slave) via the CAN bus. The LSS master sets all LSS
slaves to a configuration mode. Each LSS slave can be unambiguously identified
via the device data (vendor ID, product code, revision number and serial number).
To change the bit rate the LSS master transfers the new bit rate in the
configuration mode with the service "Configure timing bit". The LSS slave replies
to the LSS master if the new bit rate is supported. Then the LSS master transmits
the time "Switch delay" via the service "Activate bit timing" after which the new bit
rate should be activated. After activation the LSS master switches the LSS slave
again to the operating mode.
To change the Node ID the LSS master transfers the new Node ID in the
configuration mode. The LSS slave replies to the master if the new Node ID is
valid. After changing the Node ID the LSS master switches the LSS slave again to
the operating mode.
The new bit rate and Node ID become active after a software reset of the LSS
slave.
9.1.3 Set-up
The CANopen standard CiA301 defines three possible operating states:
Pre-operational
In the pre-operational state no
messages (process data) can be transmitted.
The pre-operational state is used to set the sensor parameters or as standby
mode.
During booting in the pre-operational mode, the device reports the bootUP
message "0x700+
" to the CAN bus.
Operational
In the operational state all communication services are carried out. The
operational state is used to exchange the process data while in operation.
Stopped
In the stopped state only
messages (network management) are possible.
This allows almost complete separation of redundant or faulty sensors from the
bus.