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5.4. LSS communication set
The iKAN-XXX-CPS module not supports the hardware and the software to change Node ID or CAN
baud rate settings, such as rotary switch and utility. For this reason, we use the LSS protocol of
CANopen to implement the function for change Node ID setting and CAN baud rate setting via CAN
bus of the iKAN-XXX-CPS module. This section will show how to use LSS protocol to change settings.
In general, the iKAN-XXX-CPS module is in operation mode when it is power on. Thus, the iKAN-
XXX-CPS module must be switched into configuration mode before using LSS protocol to change
settings. If the iKAN-XXX-CPS module is not in configuration mode, any operation is invalid.
Switch mode global
The command below will show how to switch the iKAN-XXX-CPS module into configuration
mode.
11-bit COB-ID (bit)
Func Code
10
9
8
7
6
1
1
1
1
1
LSS
Master
COB_ID
LSS-Msg
cs: the LSS command specifier. cs = 0x04 for Switch Mode Gobal.
Mode Value
0
1
Note: before any change, please set the module into configuration mode.
Inquire Node ID
Node ID
5
4
3
2
1
0
1
0
0
1
0
1
0x7E5
Mode: the LSS mode.
Description
Switch to operation mode
Switch to configuration mode
Data
RTR
Length
0
0
8
cs
Mode
8-byte Data (byte)
1
2
3
4
00
00
00
LSS Slave
(iKAN)
5
6
7
00
00
00
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