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COB_ID
LSS-Msg
cs: the LSS command specifier. cs = 0x11 for changing Node ID.
ID: the new Node ID value.
11-bit COB-ID (bit)
Func Code
10
9
8
1
1
1
LSS
Master
COB_ID
LSS-Msg
cs: the LSS command specifier. CS = 0x11 for changing Node ID.
Err1: error code.
Err2: specific error (reserved).
Note: if the newer Node ID is the same as old, there is no response from module.
Change CAN Baud Rate
The command below is used to change CAN baud rate setting of the module.
0x7E5
Node ID
7
6
5
4
3
2
1
1
1
0
0
1
0x7E4
Err1 = 0 for protocol successfully completed.
Err1 = 1 for changing Node ID fail.
Table Index
Baud Rate (K bps)
0
1
2
3
4
5
6
7
Table: CAN Baud Rate
Data
RTR
Length
1
0
0
0
0
4
10
20
50
125
250
500
800
1000
8-byte Data (byte)
0
1
2
3
4
cs
Err1
Err2
--
--
LSS Slave
(iKAN)
5
6
7
--
--
--
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