Communication via CAN bus (CANopen and CANopen Safety)
IKM360M
Date: 21.01.2021
Art. No. 90444
Mod. status 222/20
Page 28 of 58
5.7.2.3
Activate baud rate (Activate bit timing parameters)
This command activates the new baud rate set via
Configuration of the baud rate (Configure
without requiring Power off/on.
Master
Slave
COB ID User data
Byte 0
Command
Byte 1
LSB
Byte 2
MSB
Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
7E5h
15h
Switch delay
00h
00h
00h
00h
00h
Switch Delay:
The Switch delay parameter defines the length of two delay periods (d1, d2) of the same
length and must correspond with a multiple of 1 ms. After expiry of the individual processing
time and delay time d1, the new baud rate will be adopted internally. After expiry of the delay
time d2, the LSS slave will report with the boot up via the newly set baud rate. This procedure
prevents the synchronous presence on the bus of devices with different baud rates. The LSS
slave cannot send messages during the two delay periods d1 and d2.
5.7.2.4
Store configuration
This command must only be executed if only one LSS slave is in the configuration mode. The
current settings will be stored subsequently.
Master
Slave
COB ID User data
Byte 0
Command
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
7E5h
17h
00h
00h
00h
00h
00h
00h
00h
Slave
Master
COB ID User data
Byte 0
Command
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
7E4h
17h
Error
code
Spec
error
00h
00h
00h
00h
00h
Error Code:
00h: Transmission successful
01h: Store configuration is not supported
02h: Error occurred during storing
FFh: Implementation error see Spec error
Spec error:
This byte is nonzero only in case of an implementation error and Error Code FFh.