ElmoMC CANopen DSP 305 Implementation Guide - Manual (Page 11)

3.3 Configuration Services
Configuration services are available only in configuration mode. Some of the services
are only available to one LSS Slave device.
3.3.1 Configuration Node-ID
This service enables the LSS Master to configure the NMT-address of an LSS Slave.
Only one LSS Slave at a time can be configured with this service. A remote result
message confirms the success or failure of the service.
This service works in Configuration Mode. A change in the Node-ID causes a power-
on like reset to the device.
17 ## reserved for future use by CiA
0 1 2 3 4 5 6 7 8
COB-ID = 7E5h
CS NID
Figure 3-8 Switch the Node-ID of a Slave
NID (Node-ID):
If NID is set to FFh it becomes invalid when switching to operation mode. As a
result, the slave enters the ‘LSS Init State’ autonomously.
17 ## reserved for future use by CiA
0 1 2 3 4 5 6 7 8
COB-ID = 7E4h
CS
Error
Code
##
Specific
Error
Figure 3-9 Confirm the Node-ID of a Slave
Error Codes:
0: protocol successfully completed
1: Node-ID out of range
2 ... 254: reserved for further use by CiA
255: implementation specific error occured.
Specific Error Codes:
If error_code is 0 … 254, then a specific_error_code will be 0.
If error_code is 255, then a specific_error_code will be:
2: incorrect mode
no other options at this time
CANopen DSP 305 Implementation Guide
MAN-CAN305IG (Ver. 1.1)
3-4