Lss Services - HMS Anybus X-gateway CANopen User Manual

CANopen Module Specification
RPDO Transmission Types
The RPDOs can be received either in synchronous or asynchronous mode. A synchronization
(SYNC) object is transmitted periodically by a synchronization master. The data in synchronous
RPDOs are not transferred to the application until after the next SYNC object is received.
Asynchronous RPDOs will be transferred directly.
The transmission type parameter of a RPDO specifies the triggering mode.
Transmission type
0–240
241–253
254–255
(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
transmitted within a predefined 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 type
0
1–240
241–253
254–255
(Default = 255)
6.3

LSS Services

Anybus X-gateway CANopen supports LSS Master functionality according to the CANopen DS305
specification. An LSS Master can configure the baud rate and NodeID of all slaves that support
LSS. The X-gateway can not act as an LSS slave.
An LSS Slave is identified by its LSS address, which consists of the Vendor ID, Product Code,
Revision Number and Serial Number of the slave. If there is a missing slave on the network after
the boot timeout, the master will send an identify slave request, using the LSS address of the
missing slave. If a node responds to this request, the master will set its NodeID to the first
missing NodeID. It will then send a bootup message to that node. If more than one node
responds to the request, the LSS routine will fail.
Anybus ® X-gateway ™ CANopen ® PROFINET
Mode RPDO transmission description
Synchronous A received RPDO is transferred to the application after a SYNC
object is received.
-
(reserved)
Event driven An RPDO is transmitted without any relation to the SYNC object.
Mode TPDO transmission description
Synchronous, acyclic A TPDO is triggered by an event, but not transmitted before the
occurrence of a SYNC object.
Synchronous, cyclic A TPDO is transmitted with every n-th SYNC object, where n is a
defined number from 1 - 240.
-
(reserved)
Event driven 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.
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