7lmt services – West Control Solutions KS 800 CANopen Interface Manual User Manual
Page 18
KS 800 CAN-Interface
7
LMT services
(CMS standard and extensions)
The LMT services according to CiA/DS205 version 1.1 are available. Restrictions, or special
extensions are given in the following service descriptions. The relevant COB IDs are 2021 (ma-
ster
⇒
slave), or 2020 (slave
⇒
master), whereby KS800 is slave.
7.1
Switch Mode Services
7.1.1 Switch Mode Global
M
⇒
S
0
1
2
3
4
5
6
7
cs = 04
mode
r
r
r
r
r
r
cs
LMT command specifier
mode
0:
switches to operation mode
1:
switches to configuration mode
r
reserved
7.1.2 Switch Mode Selective
M
⇒
S
0
1
2
3
4
5
6
7
cs = 01
m1
m2
m3
m4
m5
m6
m7
0
1
2
3
4
5
6
7
cs = 02
p1
p2
p3
p4
p5
p6
p7
0
1
2
3
4
5
6
7
cs = 02
s1
s2
s3
s4
s5
s6
s7
cs
LMT command specifier
m1..7
manufacturer name part of LMT address
p1..7
product name part of LMT address
s1..7
serial number part of LMT address
18
9499 040 49511