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Contents
1 Introduction ................................................................................................................ 1-1
1.1 Objectives of LSS ......................................................................................................... 1-1
1.2 Abbreviations and Terms ........................................................................................... 1-1
1.3 LSS Hardware Restrictions (LSS Address) ............................................................... 1-2
1.4 LSS Operating Restrictions......................................................................................... 1-2
1.5 Elmo Documentation .................................................................................................. 1-3
2 LSS Modes................................................................................................................... 2-1
2.1 Configuration and the Operation Modes................................................................. 2-1
3 LSS Services ................................................................................................................ 3-1
3.1 LSS Master-Slave Synchronization & Protocol......................................................... 3-1
3.2 Switch Mode Services ................................................................................................. 3-2
3.2.1 Switch Mode Global.......................................................................................... 3-2
3.2.2 Switch Mode Selective...................................................................................... 3-3
3.3 Configuration Services................................................................................................ 3-4
3.3.1 Configuration Node-ID .................................................................................... 3-4
3.3.2 Configuration Bit Timing Parameters............................................................. 3-5
3.3.3 Activate Bit Timing Parameters....................................................................... 3-6
3.3.4 Store Configuration Parameters ...................................................................... 3-7
3.4 Inquiry Services........................................................................................................... 3-8
3.4.1 Inquire LSS Address ......................................................................................... 3-8
Inquire Vendor-ID Protocol .............................................................................3-8
Inquire Product-Code Protocol........................................................................ 3-8
Inquire Revision-Number Protocol................................................................. 3-9
Inquire Serial-Number Protocol ...................................................................... 3-9
3.4.2 Inquire Node-ID................................................................................................ 3-9
Inquire Node-ID Protocol ............................................................................... 3-9
3.5 Identification Services............................................................................................... 3-10
3.5.1 LSS Identify Remote Slaves............................................................................ 3-10
Inquire Node-ID Protocol ............................................................................. 3-10
3.5.2 LSS Identify Slave Protocol............................................................................ 3-11
3.5.3 Example............................................................................................................ 3-12
4 Implementation Rules ............................................................................................... 4-1
CANopen DSP 305 Implementation Guide
MAN-CAN305IG (Ver. 1.1)
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