West-control-solutions KS 800 CANopen Interface Manual Instrukcja Użytkownika Pobierz pdf (Strona 18)

KS 800 CAN-Interface

7 LMT services (CMS standard and extensions)

The LMT services according to CiA/DS205 version 1.1 are available. Restrictions, or special

extensions are given in the following service descriptions. The relevant COB IDs are 2021 (ma-

ster ⇒ slave), or 2020 (slave ⇒ master), whereby KS800 is slave.

7.1 Switch Mode Services

7.1.1 Switch Mode Global

M ⇒ S

0 1 2 3 4 5 6 7

cs=04 mode r r r r r r

cs LMT command specifier

mode 0: switches to operation mode

1: switches to configuration mode

r reserved

7.1.2 Switch Mode Selective

M ⇒ S

0 1 2 3 4 5 6 7

cs=01 m1 m2 m3 m4 m5 m6 m7

0 1 2 3 4 5 6 7

cs=02 p1 p2 p3 p4 p5 p6 p7

0 1 2 3 4 5 6 7

cs=02 s1 s2 s3 s4 s5 s6 s7

cs LMT command specifier

m1..7 manufacturer name part of LMT address

p1..7 product name part of LMT address

s1..7 serial number part of LMT address

18 9499 040 49511

1 2 ... 13 14 15 16 17 18 19 20 21 22 23 ... 45 46

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West-control-solutions KS 800 CANopen Interface Manual Instrukcja Użytkownika Strona 18