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d1 d2
d1 d2
d1 d2p2
p2
LMT Master
LMT Slave 1
LMT Slave 2
c
c: initiation of command
p1, p2: individual processing delay
d1: duration of first switch_delay period
d2: duration of second switch_delay period
********: node may be transmitting
********
********
t
t
t
Figure 3-13 Switch_Delay Periods
3.3.4 Store Configuration Parameters
The Store Configured Parameters service is used to store the configured parameters in
non-volatile memory.
23 reserved by CiA for future use
12345678
COB-ID = 7E5h
CS
Figure 3-14 Store Configuration Parameters
A return message confirms the success or failure of the service. The reason is specified
if the effort fails. This service is available for only one LSS Slave in ‘Configuration
Mode’ at a time.
23 ## reserved by CiA for future use
012345678
COB-ID = 7E4h
CS
Error
Code
##
S pe cific
Error
Figure 3-15 Confirm Configuration Parameters
Error Codes:
0: protocol successfully completed
1: store configuration is not supported
2: storage media access error
3 ... 254: reserved for further use by CiA
255: implementation specific error occurred.
Specific Error Codes:
If error_code is 0 … 254, then a specific_error_code will be 0.
CANopen DSP 305 Implementation Guide
MAN-CAN305IG (Ver. 1.1)
3-7