Hi,
I've a (simple) question about the COB-ID used for LSS in CANOpen: Any transmission/reception is done by using the COB-ID 2021/2020 and as far I've understood, the COB-ID represents the CAN-ID on the bus. Since CANOpen uses standard frames only, how are those IDs mapped to the CAN-ID?? (2020 == 0x7E4 which is > 0x3FF) Another quesiton that occured when reading the "layer setting services and protocoll (LSS)" document available from CiA is about switching the mode of a single slave node back to operational mode. On page 9 of the document, switch mode selective takes only the LSS_address of the slave to switch to configuration mode, is there no way back to operational mode? What happenes if multiple slave nodes are configured to the same, invalid ID? (those nodes should be dynamically reconfigured to a valid node ID at startup) Thanks for any help,
Martin