Elmo DSP 305 manual 3.3.2Configuration Bit Timing Parameters, Table Selector Table Table Selection

CANopen DSP 305 Implementation Guide

MAN-CAN305IG (Ver. 1.1)

3-5

3.3.2Configuration Bit Timing Parameters

The LSS Master’s Configure Bit Timing Parameters service sets new bit timing on an LSS Slave. The bit timing parameters for different baud rates are specified in the Bit Timing Parameter Table below. With table_selector value ´0´ the standard CiA bit timing parameter table is used. The table_index selects the entry (baud rate) in the selected table (value ‘0’ refers to the highest baud rate).

Table Selector Table:

Table Selection

0:standard CiA Bit Timing Table 1…127: reserved for further use by CiA

128…255: for use by manufacturer for specific but timings

Note:

Elmo drives only work with the standards CiA Bit Timing Table.

Standard CiA Bit Timing Table:

Table Index	Baud Rate
0	1000 kBit
1	800 kBit
2	500 kBit
3	250 kBit
4	125 kBit
5	reserved
6	50 kBit
7	not supported
8	not supported

This service can be performed on only one LSS Slave, in configuration mode, at a time. The service must be followed by an Activate Bit Timing Parameters service. After executing this service the node may not execute any remote LSS services other than Configure Bit Timing Parameters, Activate Bit Timing Parameters and Switch Mode.

COB-ID = 7E5h
0 CS		1	Table	2	Table	3	4	5		6		7	8
			Selector		Index
	19		##		##			reserved	by CiA for		future use

Figure 3-10 Select Bit Timing

A remote message confirms the success or failure of the service. In case of a failure, the reason is given.

COB-ID = 7E4h					Specific
0 CS		1	Error	2		3	4	5		6		7	8
			Code		Error
	19		##		##			reserved	by CiA for		future use

Figure 3-11 Bit Timing Confirmation Message

Error Codes:

0:protocol successfully completed

1:Node-ID out of range

2...254: reserved for further use by CiA

255: implementation specific error occured.

Specific Error Codes:

If error_code is 0 … 254, then a specific_error_code will be 0. If error_code is 255, then a specific_error_code will be:

2: incorrect mode