Communication via CAN bus (CANopen and CANopen Safety)
IKM360M
Date: 21.01.2021
Art. No. 90444
Mod. status 222/20
Page 24 of 58
5.7
Layer Setting Service (LSS)
Layer Setting Service (LSS) is a special method described in CiA 305 it serves for retrieving
and configuring various parameters (Node ID, baud rate, and Identity Object 1018h).
Every device must have a unique LSS number composed of the entries in Object 1018h.
Vendor ID:
0000 0195h
Product code:
0202 0003h
Revision number:
FFFF FFFFh
Serial number:
xxxx xxxxh (respective serial number of the inclinometer)
In order to enable the use of full LSS functionality, all devices on the bus must support the
LSS method. An LSS master must exist and all nodes must start with the same baud rate. After
starting, the device will be in the LSS waiting state. To enable configuration, one or all
devices must be switched to the LSS configuration state. If the LSS master expects to receive
an answer to its command, only one LSS slave must be switched to the LSS configuration
mode.
Two LSS services are available:
LSS (rx) (LSS Master
Slave): 7E5h
LSS (tx) (Slave
LSS Master): 7E4h
These LSS identifiers cannot be changed!
A message consists always of 8 bytes. Byte 0 contains the command (Command – Specifier
cs), followed by max. 7 data bytes unused data bytes are reserved and must be filled with
00h.
Service
LSS waiting
LSS configuration
Switch state global
yes
yes
Switch state selective
yes
no
Activate bit timing parameters
no
yes, if all devices on the bus support LSS
Configure bit timing parameters no
yes
Configure Node ID
no
yes
Store configuration
no
yes
Request LSS address
no
yes
Request Node ID
no
yes
Table 16: State behavior of the supported LSS services
5.7.1
State change
5.7.1.1
Switch states of all LSS devices (Switch state global)
COB ID User data
Byte 0
Command
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
7E5h
04h
Mode
00h
00h
00h
00h
00h
00h