West Control Solutions KS 800 CANopen Interface Manual User Manual
Page 19
KS 800 CAN-Interface
7.2
Configuration Services
Configure NMT Address comprises services Configure Module ID and Configure Module Name.
Service Configure Module Name is not supported. A relevant request provides error code: 255
and specific_error_code: 01 (service not supported).
7.2.1 Configure Module ID
M
⇒
S
0
1
2
3
4
5
6
7
cs = 17
MId
r
r
r
r
r
r
S
⇒
M
0
1
2
3
4
5
6
7
cs = 17
error
code
spec
error
r
r
r
r
r
cs
LMT command specifier
MId
new module_id to be configured
error_code
0:
successful
1..254:
reserved
255:
implementation specific error
specific_error
only valid if error_code equal to 255
3:
MId out of range
4:
command execution error
r
reserved
7.2.2 Configure Bit Timing
M
⇒
S
0
1
2
3
4
5
6
7
cs = 19
table
selector
table
index
r
r
r
r
r
S
⇒
M
0
1
2
3
4
5
6
7
cs = 19
error
code
spec
error
r
r
r
r
r
cs
LMT command specifier
table_selector
0:
standard CiA bit timing table
table_index
0:
1 Mbit
1:
800 kbit
2:
500 kbit
3:
250 kbit
4:
125 kbit
5:
50 kbit
6:
20 kbit
7:
10 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
3:
value out of range
4:
command execution error
r
reserved
9499 040 49511
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