Maxon EPOS4, Communications Manual

Page: 35 / 54

CAN Communication
Layer Setting Services (LSS)
EPOS4 Communication Guide
CCMC | 2019-11 | rel8759
3-35
3.5 Layer Setting Services (LSS)
By using layer setting services and protocols, a LSS Slave may be configured via CAN network without
using DIP switches for setting the Node ID and bit timing parameters.The CANopen device that can config-
ure other devices via CANopen network is called «LSS Master». There must be only one (active) LSS mas-
ter in a network.
The CANopen device that will be configured by the LSS Master via CANopen network is called «LSS
Slave».
An LSS Slave can be identified by its worldwide (at least network-wide) unique LSS address. The LSS
address consists of the sub objects «Vendor ID», «Product Code», «Revision Number» and «Serial Num-
ber» of the CANopen «Identity object» 0x1018 (
 EPOS4 Firmware Specification). In the network, there
must not be other LSS Slaves possessing the same LSS address.
With this unique LSS address an individual CANopen device can be allocated within the network. The Node
ID is valid if it is in the range of 0x01…0x7F, value 0xFF identifies not configured CANopen devices.
Communication between LSS Master and LSS Slaves is accomplished by LSS protocols which use only
two COB-IDs:
• LSS master message from LSS Master to LSS Slaves (COB-ID 0x7E5)
• LSS slave message from the LSS Slaves to LSS Master (COB-ID 0x7E4).
Layer Setting Services are only accessible in NMT slave state “Stopped”. To enter Stopped state, «Stop
Remote Node» (
 “NMT Services” on page 3-31) is used.
3.5.1 Overview
The table below provides an overview on the LSS commands, including details on whether they may used
in states “Waiting” and “Configuration”. To change the LSS state, the LSS commands
 Switch State
Global or

Switch State Selective may be used.
Table 3-14 LSS Commands – Overview
Command
Specifier
LSS Command
LSS State
Waiting
LSS State
Configuration
0x04

Switch State Global yes yes
0x40…0x43  Switch State Selective yes no
0x11  Configure Node ID no yes
0x13  Configure Bit Timing Parameters no yes
0x15

Activate Bit Timing Parameters no yes
0x17  Store Configuration Protocol no yes
0x5A  Inquire Identity Vendor ID no yes
0x5B  Inquire Identity Product Code no yes
0x5C

Inquire Identity Revision Number no yes
0x5D  Inquire Identity Serial Number no yes
0x5E  Inquire Identity Node ID no yes
0x46…0x4B  Identify Remote Slave yes yes
0x4C

Identify non-configured Remote Slave yes yes