West-control-solutions KS 800 CANopen Interface Manual Manual de usuario descargar pdf (Pagina 23)

KS 800 CAN-Interface

7.6.1 Configure Module-ID

M ⇒ S

0 1 2 3 4 5 6 7

cs = 129 MId CAN r r r r r

S ⇒ M

0 1 2 3 4 5 6 7

cs = 129 error

code

spec

error

r r r r r

cs LMT command specifier

CAN number of CAN-controller (must be 0)

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 to255

3: Mid out of range

4: command execution error

6: illegal CAN-controller selected

r reserved

7.6.2 Configure Bit Timing

M ⇒ S

0 1 2 3 4 5 6 7

cs = 130 table

selector

table

index

CAN r r r r

S ⇒ M

0 1 2 3 4 5 6 7

cs = 130 error

code

spec

error

r r r r r

cs LMT command specifier

CAN number of CAN-controller (must be 0)

table_selector 0: standard CiA bit timing table

table_index 0: 1 Mbit

1: 500 kbit

2: 250 kbit

3: 125 kbit

4: -

5: 50 kbit

6: 20 kbit

7: 10 kbit

8: 800 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

6: illegal CAN-controller selected

r reserved

9499 040 49511 23

1 2 ... 18 19 20 21 22 23 24 25 26 27 28 ... 45 46

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West-control-solutions KS 800 CANopen Interface Manual Manual de usuario Pagina 23

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