Baumer GNAMG Series Manual - Page 15

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Baumer GNAMG Series Manual

3.3.6. Layer Setting Services

In spring 2000 CiA presented a new protocol to ensure a uniform presence. Proceedings are defined under
Layer Setting Services and Protocol, CiA Draft Standard Proposal 305 (LSS).
The inclination sensor comes with the standard Node-ID 1 and standard baud rate 50 kBaud. Several
inclination sensors with the same Node-ID can be networked to the bus system. LSS is utilized to address the
individual inclination sensor.
Every inclination sensor comes with a unique serial number that it must be addressed to. Consequently, any
number of inclination sensor with the same Node-ID can be networked to the bus for init via LSS. Both Node-
ID and baud rate can be configured. LSS is only available in stopped mode.
Message structure
COB-ID:
Master  Slave : 2021 = 7E5h
Master  Slave : 2020 = 7E4h
The COB-ID is followed by a LSS command specifier and a data packet of max. 7 bytes.
COB-ID cs
Byte 1
Switch Mode Global
7E5h  04h
Mode
: 0  Operational mode
Mode
1  Configuration mode
Switch Mode Selective
The following sequence is for addressing a determined inclination sensor in the bus system
7E5h  40h
VendorId
7E5h  41h
ProductCode
7E5h  42h
RevisionNumber
7E5h  43h
SerialNumber
7E4h  44h
Mode
VendorId
: ECh
ProductCode
: Internal product code of the respective inclination sensor
RevisionNumber
: Current revision number of the inclination sensor
SerialNumber
: Unique, successive serial number
Mode
: The inclination sensor will respond in the new mode (0=Operational mode;
1=Configuration mode)
Setting the Node-ID
7E5h  11h
Node-ID
7E4h  11h
ErrCode
Node-ID
: The new Node-ID of the inclination sensor
ErrorCode
: 0=OK; 1=Node-ID beyond the range; 2..254=reserved; 255specificError
: If ErrorCode=255  application-specific error code.
SpecificError
Manual_GNAMG_CANopen_EN.doc
21.11.12
Byte 2
Byte 3
Byte 4
Reserved
reserved
Spec Error
reserved
15/41
Byte 5
Byte 6
Byte 7
Reserved
reserved
reserved
reserved
reserved
Villingen-Schwenningen, Germany
Baumer IVO GmbH & Co. KG