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Maxon EPOS4 - LSS Commands; Switch State Global

Maxon EPOS4
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CAN Communication
Layer Setting Services (LSS)
EPOS4 Communication Guide
3-36 CCMC | 2019-11 | rel8759
3.5.2 LSS Commands
3.5.2.1 Switch State Global
Changes state of all connected LSS Slaves to “Configuration” or back to “Waiting”. Thereby, particular LSS
commands are not permitted (Table 3-14).
Figure 3-25 LSS – Switch State Global
3.5.2.2 Switch State Selective
Changes state of one LSS Slave from “Waiting” to “Configuration”.
LSS command specifier…
0x40 is used to submit the Vendor ID,
0x41 to submit the Product Code,
0x42 to submit the Revision Number,
0x43 to submit the Serial Number («Identity object» 0x1018; EPOS4 Firmware Specification).
Then, the single addressed LSS Slave changes to configuration state and answers by sending a command
specifier 0x44 response.
Figure 3-26 LSS – Switch State Selective
cs 0x04 LSS command specifier 4 or switch state global
mode
0
1
switch to LSS state waiting
switch to LSS state configuration

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