The LSS address comprises:
•
Manufacturer ID
•
Product code
•
Revision number
•
Serial number
The master uses the LSS services to request the individual services which are then
executed by the GLS100. The LSS telegrams facilitate communication between LSS
master and LSS slave. An LSS telegram is always 8 bytes long. Byte 0 contains the
command specifier (CS), followed by 7 bytes for the data. All bytes that are not in use
must be set to zero.
The following COB IDs are used:
•
07E4h = LSS slave to LSS master
•
07E5h = LSS master to LSS slave
NOTE
During LSS configuration, only one CANopen slave device may be connected to the CAN
bus, i.e. only the GLS100 to be configured.
Below are 2 examples of setting the node ID and baud rate.
In the examples, a GLS100 is configured to node ID 19 and a bit rate of 500 kbit.
The transmission direction refers to the CAN device that performs the configuration
(master).
Setting the node ID
Step Description
Direction
CAN-ID
Len
gth
Data (hexadecimal)
1
Send "go to pre-operational" NMT command to all
slaves, result: Slaves stop sending PDOs.
transmit
000h
2
80 00
2
Send “switch all slaves to LSS configuration state” LSS
command, result: Slave is in “configuration” state
transmit
7E5h
8
04 01 00 00 00 00 00 00
3
Send LSS command: “Configure Node ID” to set the
node ID to 19.
transmit
7E5h
8
11
13
00 00 00 00 00 00
(13h is the new node ID, i.e.
node ID 19 (decimal))
4
LSS slave confirms setting of the new node ID.
receive
7E4h
8
11 00 00 00 00 00 00 00
5
Send “store configuration” LSS command
transmit
7E5h
8
17 00 00 00 00 00 00 00
6
LSS slave confirms saving of configuration
receive
7E4h
8
17 00 00 00 00 00 00 00
You can now either switch the device off and on again to activate new settings, or restart communication with the following
NMT commands.
7
Send “reset communication” NMT command to all
slaves.
transmit
000h
2
82 00
8
Send “go to operational” NMT command to all slaves.
Result: GLS100 now communicates with new Node-ID
transmit
000h
2
01 00
Configuring baud rate
Step Description
Direction
CAN-ID
Len
gth
Data (hexadecimal)
1
Send "go to pre-operational" NMT command to all
slaves, result: Slaves stop sending PDOs.
transmit
000h
2
80 00
2
Send “switch all slaves to LSS configuration state” LSS
command, result: Slave is in “configuration” state
transmit
7E5h
8
04 01 00 00 00 00 00 00
7
COMMISSIONING
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O P E R A T I N G I N S T R U C T I O N S | GLS100
8026282/2021-05-26 | SICK
Subject to change without notice
