Maxon EPOS4 User Manual

USB & RS232 Communication
EPOS4 USB & RS232 Command Reference
EPOS4 Communication Guide
CCMC | 2019-11 | rel8759
2-11
2.1.3 General CAN Commands
2.1.3.1 SendLSS
Send a LSS master message to the CAN bus.
2.1.3.2 ReadLSS
Read a LSS slave message from the CAN bus.
Note that a LSS slave message can be read only if a SendLSS command has been executed before.
Request Frame
OpCode BYTE 0x7A
Len BYTE 4
Parameters BYTE[8] LSS master message
Response Frame
OpCode BYTE 0x00
Len BYTE 2 (number of words)
Parameters DWORD “Communication Error Code Definition” on page 6-47
Request Frame
OpCode BYTE 0x7B
Len BYTE 2
Parameters WORD Timeout [ms]
Response Frame
OpCode BYTE 0x00
Len BYTE 6 (number of words)
Parameters
DWORD “Communication Error Code Definition” on page 6-47
BYTE[8] LSS slave message frame data

Maxon EPOS4 Specifications

General

Digital Outputs	4
Analog Inputs	2
Communication	USB
Interface	USB, CAN
Protocol	EtherCAT, CANopen