West Control Solutions KS 800 CANopen Interface Manual - Manual (Page 19)

KS 800 CAN-Interface
7.2 Configuration Services
Configure NMT Address comprises services Configure Module ID and Configure Module Name.
Service Configure Module Name is not supported. A relevant request provides error code: 255
and specific_error_code: 01 (service not supported).
7.2.1 Configure Module ID
M
⇒
S
0 1 2 3 4 5 6 7
cs = 17 MId r r r r r r
S
⇒
M
0 1 2 3 4 5 6 7
cs = 17 error
code
spec
error r r r r r
cs LMT command specifier
MId new module_id to be configured
error_code 0: successful
1..254: reserved
255: implementation specific error
specific_error only valid if error_code equal to 255
3:
MId out of range
4: command execution error
r reserved
7.2.2 Configure Bit Timing
M
⇒
S
0 1 2 3 4 5 6 7
cs = 19 table
selector
table
index
r r r r r
S
⇒
M
0 1 2 3 4 5 6 7
cs = 19 error
code
spec
error
r r r r r
cs LMT command specifier
table_selector 0: standard CiA bit timing table
table_index 0: 1 Mbit
1: 800 kbit
2: 500 kbit
3: 250 kbit
4: 125 kbit
5: 50 kbit
6: 20 kbit
7: 10 kbit
error_code 0: successful
1: bit timing not supported
2..254: reserved
255: implementation specific error
specific_error only valid if error_code equal to 255
3:
value out of range
4: command execution error
r reserved
9499 040 49511 19