West-control-solutions KS 800 CANopen Interface Manual Manuale Utente Scaricare il pdf (Pagina 19)

KS 800 CAN-Interface

7.2 Configuration Services

Configure NMT Address comprises services Configure Module ID and Configure Module Name.

Service Configure Module Name is not supported

. A relevant request provides error code: 255

and specific_error_code: 01 (service not supported).

7.2.1 Configure Module ID

M ⇒ S

0 1 2 3 4 5 6 7

cs=17 MId r r r r r r

S ⇒ M

0 1 2 3 4 5 6 7

cs=17 error

code

spec

error

r r r r r

cs LMT command specifier

MId new module_id to be configured

error_code 0: successful

1..254: reserved

255: implementation specific error

specific_error only valid if error_code equal to 255

3: MId out of range

4: command execution error

r reserved

7.2.2 Configure Bit Timing

M ⇒ S

0 1 2 3 4 5 6 7

cs=19 table

selector

table

index

r r r r r

S ⇒ M

0 1 2 3 4 5 6 7

cs=19 error

code

spec

error

r r r r r

cs LMT command specifier

table_selector 0: standard CiA bit timing table

table_index 0: 1 Mbit

1: 800 kbit

2: 500 kbit

3: 250 kbit

4: 125 kbit

5: 50 kbit

6: 20 kbit

7: 10 kbit

error_code 0: successful

1: bit timing not supported

2..254: reserved

255: implementation specific error

specific_error only valid if error_code equal to 255

3: value out of range

4: command execution error

r reserved

9499 040 49511 19

1 2 ... 14 15 16 17 18 19 20 21 22 23 24 ... 45 46

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