ElmoMC CANopen DSP 305 Implementation Guide - Manual (Page 12)

3.3.2 Configuration Bit Timing Parameters
The LSS Master’s Configure Bit Timing Parameters service sets new bit timing on an
LSS Slave. The bit timing parameters for different baud rates are specified in the Bit
Timing Parameter Table below. With table_selector value ´0´ the standard CiA bit
timing parameter table is used. The table_index selects the entry (baud rate) in the
selected table (value ‘0’ refers to the highest baud rate).
Table Selector Table: Standard CiA Bit Timing Table:
Table Selection
0: standard CiA Bit Timing Table
1…127: reserved for further use by CiA
128…255: for use by manufacturer for
specific but timings
Note:
Elmo drives only work with the
standards CiA Bit Timing Table.
Table Index
0
1
2
3
4
5
6
7
8
Baud Rate
1000 kBit
800 kBit
500 kBit
250 kBit
125 kBit
reserved
50 kBit
not supported
not supported
This service can be performed on only one LSS Slave, in configuration mode, at a time.
The service must be followed by an Activate Bit Timing Parameters service. After
executing this service the node may not execute any remote LSS services other than
Configure Bit Timing Parameters, Activate Bit Timing Parameters and Switch Mode.
19 ## reserved by CiA for future use
0 1 2 3 4 5 6 7 8
COB-ID = 7E5h
CS
Table
Selector
##
Table
Index
Figure 3-10 Select Bit Timing
A remote message confirms the success or failure of the service. In case of a failure, the
reason is given.
19 ## reserved by CiA for future use
0 1 2 3 4 5 6 7 8
COB-ID = 7E4h
CS
Error
Code
##
Specific
Error
Figure 3-11 Bit Timing Confirmation Message
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
CANopen DSP 305 Implementation Guide
MAN-CAN305IG (Ver. 1.1)
3-5