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3.8.2 Transmission of LMT services
By means of LMT services, the LMT master requests services to be performed by the
LMT slave. Communication between LMT master and LMT slave is made by means of
implemented LMT protocols.
Similar as in the case of SDO transmitting, also here two COB-IDs for sending and
receiving are used:
COB-ID
Meaning
0x7E4
LMT slave
LMT master
0x7E5
LMT master
LMT slave
Table 6: COB-IDs for LMT services
3.8.2.1 LMT message format
The data field with max. 8 byte length of a CAN message is used by a LMT service as
follows:
CS
Data
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Table 7: LMT message
Byte 0 contains the
Command-Specifier
(CS), afterwards 7 byte data are following.
