West-control-solutions KS 800 CANopen Interface Manual Manual de usuario descargar pdf (Pagina 24)

KS 800 CAN-Interface

7.6.3 Inquire Bit Timing

M ⇒ S

0 1 2 3 4 5 6 7

cs = 132 r r r r r r r

S ⇒ M

0 1 2 3 4 5 6 7

cs = 132 error

code

spec

error

table

selector

table

index

CAN BTR0 BTR1

cs LMT command specifier

CAN number of CAN-controller (always 0)

BTR0/BTR1 bit timing register 0 and 1 of CAN-controller

table_selector standard CiA bit timing table (always 0)

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

r reserved

24 9499 040 49511

1 2 ... 19 20 21 22 23 24 25 26 27 28 29 ... 45 46

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West-control-solutions KS 800 CANopen Interface Manual Manual de usuario Pagina 24