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94 ## reserved for future use by CiA
012345678
COB-ID = 7E4h
CS NID
Figure 3-25 Confirm Node-ID
If the Node-ID was recently changed with a Configure Node-ID command, the
original Node-ID will continue to be returned until the next power on reset. A value of
FFh is returned if the Node-ID is not configured … this is only possible if the slave is
in ‘LSS Init State’.
3.5 Identification Services
This protocol is used to implement the 'LSS Identify Remote Slaves' service.
3.5.1 LSS Identify Remote Slaves
By means of this service, the LSS Master requests all LSS slaves, whose LSS address
meets the LSS_Address_sel to identify themselves by means of the 'LSS Identify Slave'
service.
LSS_Address_sel consists of a fixed Vendor ID and Product Code and a span of
revision and serial numbers. This service goes unconfirmed.
Inquire Node-ID Protocol
lsb Vendor-ID msb70 reserved for future use by CiA
012345678
COB-ID = 7E5h
CS
Figure 3-26 Slave Vendor-ID Inquiry
lsb Product-Code msb71 reserved for future use by CiA
012345678
COB-ID = 7E5h
CS
Figure 3-27 Slave Product-ID Inquiry
lsb Revision-Number-Low msb72 reserved for future use by CiA
012345678
COB-ID = 7E5h
CS
Figure 3-28 Slave Revision Number Inquiry
CANopen DSP 305 Implementation Guide
MAN-CAN305IG (Ver. 1.1)
3-10