
6
85201A_RK5C_User Manual_02-2017_ENG
The LSS master sends this message sequence to switch the GEFRAN RK5C CANopen device into configuration state
(the slave sends the response message):
COB-ID
Rx/Tx
DLC
Data
D0
D1
D2
D3
D4
D5
D6
D7
7E5h
Rx
8
40h
93h
00h
00h
00h
00h
00h
00h
7E5h
Rx
8
41h
52h
4Bh
35h
53h
00h
00h
00h
7E5h
Rx
8
42h
01h*
00h*
01h*
00h*
00h
00h
00h
7E5h
Rx
8
43h
34h**
12h**
01h**
15h**
00h
00h
00h
7E4h
Tx
8
44h
00h
00h
00h
00h
00h
00h
00h
Figure 12 - LSS switch state selective message sequence
* The Revision number used for this example is 00010001h
** The Serial number used for this example is: 15011234h
The Serial Number is assigned by GEFRAN to the RK5C sensor in accordance with the following scheme.
SERIAL NUMBER : YY WW NNNN, where:
YY: year of production
WW: week of production
NNNN: progressive number inside the week, starting from 1
3.2 LSS CONFIGURATION SERVICES
LSS configure node-ID
By means of this service, the LSS master device configures the pending node-ID of the LSS slave device. The LSS
slave device confirms the success or the failure of the service execution.
The allowed node-ID values are in the range 1..127 (01h..7Fh). The LSS master sends this message to configure the
value of the node-ID (the slave sends the response message):
COB-ID
Rx/Tx
DLC
Data
D0
D1
D2
D3
D4
D5
D6
D7
7E5h
Rx
8
11h
Node
ID
00h
00h
00h
00h
00h
00h
7E4h
Tx
8
11h
Error
code
00h
00h
00h
00h
00h
00h
Figure 13 - LSS configure node-ID message
where Error code: 00h (Protocol successfully completed) or 01h (Node-ID out of range)
The pending node-ID becomes active only after the master sends a NMT reset communication command. The node-ID
is not automatically saved to the non-volatile memory of the slave device. In order to save the persistent node-ID, refer to
the LSS store configuration service.
When the pending node-ID becomes active, or when the node-ID is stored in non volatile memory, the following COB-
IDs are automatically updated according to their default values:
- COB-ID SYNC (1005h)
- COB-ID EMCY (1014h)
- COB-ID SDO rx (1200h, sub 1)
- COB-ID SDO tx (1200h, sub 2)
- COB-ID TPDO (1800h, sub 1)
At the power on, the active node-ID equals the persistent node-ID.