West Control Solutions KS 800 CANopen Interface Manual - Manual (Page 23)

KS 800 CAN-Interface
7.6.1 Configure Module-ID
M
⇒
S
0 1 2 3 4 5 6 7
cs = 129 MId CAN r r r r r
S
⇒
M
0 1 2 3 4 5 6 7
cs = 129 error
code
spec
error
r r r r r
cs LMT command specifier
CAN number of CAN-controller (must be 0)
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 to255
3: Mid out of range
4: command execution error
6: illegal CAN-controller selected
r reserved
7.6.2 Configure Bit Timing
M
⇒
S
0 1 2 3 4 5 6 7
cs = 130 table
selector
table
index
CAN r r r r
S
⇒
M
0 1 2 3 4 5 6 7
cs = 130 error
code
spec
error
r r r r r
cs LMT command specifier
CAN number of CAN-controller (must be 0)
table_selector 0: standard CiA bit timing table
table_index 0: 1 Mbit
1: 500 kbit
2: 250 kbit
3: 125 kbit
4: -
5: 50 kbit
6: 20 kbit
7: 10 kbit
8: 800 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
6: illegal CAN-controller selected
r reserved
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