DTM434 DTM435
16
Value
Bit rate
0
1000 kBits/s
1
800 kBits/s
2
500 kBits/s
3
250 kBits/s
4
125 kBits/s
5
100 kBits/s
6
50 kBits/s
7
20 kBits/s
If a master is used in the CANopen network for central storage of parameters, the changed
values for Node ID (0x20F0 and 0x20F1) and bit rate (0x20F2 and 0x20F3) must be additionally
entered in the master.
Otherwise the values will be reset during each start of the CANopen network.
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.
The master or network manager can request the sensor via NMT messages to change the state
accordingly.