Baumer G1-G2-G0-GE-GB-GXxxx - Manual (Page 18)

Manual_CANopen_BIDE_EN.docx 18/52 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
4.3.7. Layer Setting Services
In the spring of 2000, CiA drafted a new protocol intended to ensure standardized occurrence. The procedure
is described under
Layer Setting Services and Protocol, CiA Draft Standard Proposal 305 (LSS).
The encoder is supplied by us as standard with the node ID 1 and a baud rate of 50 kBaud. Several encoders
can be connected to the bus system with the same node ID. To allow individual encoders to be addressed,
LSS is used.
Each encoder is fitted with its own unique serial number and is addressed using this number. In other words,
an optional number of encoders with the same node ID can be connected to one bus system, and then
initialized via LSS. Both the node ID and also the baud rate can be reset. LSS can only be executed in the
Stopped Mode.
Message structure
COB ID:
Master  Slave
: 2021 = 7E5h
Master  Slave : 2020 = 7E4h
After the COB ID, an LSS command specifier is transmitted.
This is followed by up to seven attached data bytes.
COB ID cs Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Switch Mode Global
7E5h  04h Mode Reserved
Mode : 0  Operation mode
1  Configuration mode
Selective switch mode
The following procedure can be used to address a certain encoder in the bus system.
7E5h  40h Vendor ID reserved
7E5h  41h Product code reserved
7E5h  42h Revision number reserved
7E5h  43h Serial number reserved
7E4h  44h Mode reserved
Vendor Id
: ECh
Product code : Internal product code for the respective encoder
Revision number : Current revision number of the encoder
Serial number
: Unique, consecutive serial number
Mode : The encoder's response is the new mode (0=operating mode; 1=configuration mode)
Setting the node ID
7E5h  11h Node ID reserved
7E4h  11h ErrCode Spec error reserved
Node ID
: The encoder's new node ID
Error code : 0=OK; 1=Node ID outside range; 2..254=reserved; 255Specific error
Specific error : If Error code=255  application-specific error code.