Lss Services - HMS Anybus X-gateway CANopen Series User Manual

Transmission
Mode
type, RDPO
254 - 255 Event driven
(Default = 255)
TPDO Transmission Types
The TPDOs can be transmitted either in synchronous or asynchronous mode. A synchronization
(SYNC) object is transmitted periodically by a synchronization master. Synchronous TPDOs are trans-
mitted within a pre-defined time-window immediately after a configured number of SYNC objects, or
after the SYNC object that follows upon a CoS (Change of State event). Asynchronous TPDOs can be
transmitted at any time, triggered by a CoS or a cyclic period set in the Event Timer.
The transmission type parameter of a TPDO specifies the transmission mode as well as the triggering
mode.
Transmission
Mode
type, TDPO
0 Synchronous,
acyclic
1 - 240 Synchronous,
cyclic
241 - 253 -
254 - 255 Event driven
(Default = 255)

6.3 LSS Services

LSS master functionality according to CANopen DS305 specification is supported by the module. The
module can configure baud rate and node ID of all slaves that support LSS (i.e. the pre-configured baud
rate and node ID of a slave can be changed by a master). The module can not act as an LSS slave.
An LSS Slave is identified upon its LSS address, that consists of Vendor ID, Product Code, Revision
Number and Serial Number of the LSS slave module. If there is a missing slave on the network after the
boot timeout, the master will initiate the LSS routine, see Network Management Object "Boot Time,
1F89h" on page 38. It will send an identify slave request, using the LSS address of the slave. If one (and
only one) slave responds to this request, the master will set the NodeID on that node to the first missing
NodeID. It will then send a bootup message to the node.
Anybus X-gateway CANopen - PROFIBUS
Doc.Rev. 1.02
RPDO transmission description
An RPDO is transmitted without out any relation to the SYNC object.
TPDO transmission description
A TPDO is triggered by an event, but not transmitted before the occurrence of a
SYNC object
A TPDO is transmitted with every n-th SYNC object, where n is the defined number
from 1 - 240.
Reserved
A TPDO is transmitted without any relation to the SYNC object. The transmission is
triggered by a CoS event or if a specified time has elapsed without an event.
CANopen Module Specification 28
Doc.Id. SCM-1200-080