ElmoMC CANopen DSP 305 Implementation Guide - Manual (Page 9)

The protocols described below all have the same structure: a specific sequence of
COBs are exchanged between the LSS Master and LSS Slave for a particular LSS
service. Requesting Messages use COB-ID 7E5h while Response Messages use COB-ID
7E4h.
LSS uses Command Specifiers (CS) to identify the commands. CSs from 00 - 03fh are
reserved for use by the LMT. 040h - 07fh are reserved for use by standard LSS
services. Command Specifiers 080h – 0ffh are free for application specific purposes,
but may only be used with one Slave in Configuration Mode at a time.
In the COB data format bytes are numbered from 0 to 7. Bits within a byte are also
numbered from 0 to 7 with bit 0 being the least significant bit (LSB), and 7 the most
significant (MSB).
3.2 Switch Mode Services
Switch Mode Services controls the mode of LSS Slaves. There are two ways to put an
LSS Slave into configuration mode, with Switch Mode Global and with Switch Mode
Selective. Switch Mode Selective switches one LSS Slave between configuration and
operation mode. Switch Mode Global switches all LSS Slaves between configuration and
operation mode.
If the Node-ID of a slave is changed with the LSS ‘Configure Node-ID’ service, a
Switch Mode Global with the operation_mode parameter causes a power-on-like reset
of the LSS Slave to force a change in the slave’s default set-up parameters.
3.2.1 Switch Mode Global
This service is used to switch all LSS Slaves in the network between operation mode
and configuration mode.
04 00 reserved for future use by CiA
0 1 2 3 4 5 6 7 8
COB-ID = 7E5h
CS mode
Figure 3-2 Switch all Slaves to Operation Mode
04 01 reserved for future use by CiA
0 1 2 3 4 5 6 7 8
COB-ID = 7E5h
CS mode
Figure 3-3 Switch all Slaves to Configuration Mode
CANopen DSP 305 Implementation Guide
MAN-CAN305IG (Ver. 1.1)
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