Layer Setting Services - Baumer GXP5W Manual

Heartbeat
A "Heartbeat" principle is defined in the CAL with which the communication capability of CANopen devices
can be monitored. It can be ensured that the Master could react to a failure.
In Object 1017h "Producer Heartbeat Time" the time of the heartbeat can be defined. As soon as the value
has been confirmed, the heartbeat begins to transmit.
COB-ID Data/Remote
701h d
The heartbeat messages consist of the COB-ID and a byte. This byte is used to transmit the NMT state.
0: BootUp-Event
4: Stopped
5: Operational
127: Pre-Operational
That means the encoder is in the Pre-Operational mode (7Fh = 127).

3.4.7. Layer setting services

In the spring of 2000 a new protocol was drafted by CiA to ensure a uniform occurrence. The procedure is
described under Layer Setting Services and Protocol, CiA Draft Standard Proposal 305 (LSS).
In the standard configuration we ship the encoder with the Node-ID 1 and the baud rate 50 kBaud.
Several encoders with the same Node-ID can be connected to the bus system. To now be able to address
the individual encoders, LSS is used.
Each encoder has a unique serial number and is addressed via this number. This means any desired number
of encoders with the same Node-ID can be connected to a bus system and then initialized with LSS. Both the
Node-ID and the baud rate can be reset. LSS can only be carried out in the Stopped Mode.
Message structure
COB-ID:
Master Slave
Master Slave
After the COB-ID an LSS command specifier is transmitted.
Then up to seven data bytes are added on.
COB-ID cs Byte 1
Switch Mode Global
7E5h 04h Mode
Mode : 0 Operation mode
1 Configuration mode
Switch Mode Selective
With the following procedure a very specific encoder can be addressed in the bus system.
7E5h 40h VendorID
7E5h 41h ProductCode
7E5h 42h RevisionNumber
7E5h 43h SerialNumber
7E4h 44h Mode
Manual_GXP5_417_Lift_EN.doc
04.05.11
Byte 0
7Fh (127d)
: 2021 = 7E5h
: 2020 = 7E4h
Byte 2 Byte 3
Reserved
Byte 4 Byte 5 Byte 6
Reserved
Reserved
Reserved
Reserved
Reserved
13/41
Byte 7
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