Transmission Of Lmt Services; Lmt Message Format - TR-Electronic CANopen+Multi-Sensor LP-46-K Benutzerhandbuch

3.8.2 Transmission of LMT services

By means of LMT services, the LMT master requests services to be performed by the
LMT slave. Communication between LMT master and LMT slave is made by means of
implemented LMT protocols.
Similar as in the case of SDO transmitting, also here two COB-IDs for sending and
receiving are used:
COB-ID
0x7E4
0x7E5
Table 6: COB-IDs for LMT services

3.8.2.1 LMT message format

The data field with max. 8 byte length of a CAN message is used by a LMT service as
follows:
CS
Byte 0
Table 7: LMT message
Byte 0 contains the Command-Specifier (CS), afterwards 7 byte data are following.
Printed in the Federal Republic of Germany
01/20/2017
Byte 1 Byte 2 Byte 3
TR - ELA - BA - DGB - 0016 - 04
Meaning
LMT slave  LMT master
LMT master  LMT slave
Data
Byte 4 Byte 5
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Byte 6 Byte 7
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