Baumer GNAMG - Manual (Page 15)

Manual_GNAMG_CANopen_EN.doc 15/41 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
3.3.6. Layer Setting Services
In spring 2000 CiA presented a new protocol to ensure a uniform presence. Proceedings are defined under
Layer Setting Services and Protocol, CiA Draft Standard Proposal 305 (LSS).
The inclination sensor comes with the standard Node-ID 1 and standard baud rate 50 kBaud. Several
inclination sensors with the same Node-ID can be networked to the bus system. LSS is utilized to address the
individual inclination sensor.
Every inclination sensor comes with a unique serial number that it must be addressed to. Consequently, any
number of inclination sensor with the same Node-ID can be networked to the bus for init via LSS. Both Node-
ID and baud rate can be configured. LSS is only available in stopped mode.
Message structure
COB-ID:
Master  Slave : 2021 = 7E5h
Master  Slave : 2020 = 7E4h
The COB-ID is followed by a LSS command specifier and a data packet of max. 7 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  Operational mode
1  Configuration mode
Switch Mode Selective
The following sequence is for addressing a determined inclination sensor in the bus system
7E5h  40h VendorId Reserved
7E5h  41h ProductCode reserved
7E5h  42h RevisionNumber reserved
7E5h  43h SerialNumber reserved
7E4h  44h Mode reserved
VendorId
: ECh
ProductCode : Internal product code of the respective inclination sensor
RevisionNumber : Current revision number of the inclination sensor
SerialNumber
: Unique, successive serial number
Mode : The inclination sensor will respond in the new mode (0=Operational mode;
1=Configuration mode)
Setting the Node-ID
7E5h  11h Node-ID reserved
7E4h  11h ErrCode Spec Error reserved
Node-ID
: The new Node-ID of the inclination sensor
ErrorCode : 0=OK; 1=Node-ID beyond the range; 2..254=reserved; 255specificError
SpecificError : If ErrorCode=255  application-specific error code.