AXIOMATIC UMAXDIO128CO User manual

USER MANUAL UMAXDIO128CO
12 DIGITAL INPUT,
8 RELAY OUTPUT
CONTROLLER
With CANopen®
USER MANUAL
P/N: AXDIO128CO

UMDIO128CO Version 2.0.1 Preliminary Documentation – May be Subject to Change ii
VERSION HISTORY
Version Date Author Modifications
1.0.0 June 27, 2011 Anna Murray Initial Draft
2.0.0 Dec. 21, 2011 A. Wilkins Updated for new hardware and 2A@277VAC
2.0.1 Sept. 10, 2015 A. Wikins Added compliance information
-- Oct. 22, 2015 A. Wilkins Upgraded to IP67 based on testing
ACRONYMS
CAN Controller Area Network
CANopen® CANopen® is a registered community trademark of CAN in Automation e.V.
CAN-ID CAN 11-bit Identifier
COB Communication Object
CTRL Control
DI Digital Input
DO Digital Output (Relay)
EDS Electronic Data Sheet
EMCY Emergency
LSB Least Significant Byte (or Bit)
LSS Layer Settling Service
MSB Most Significant Byte (or Bit)
NMT Network Management
RO Read Only Object
RPDO Received Process Data Object
RW Read/Write Object
SDO Service Data Object
TPDO Transmitted Process Data Object
WO Write Only Object
REFERENCES
[DS-301] CiA DS-301 V4.1 – CANopen Application Layer and Communication Profile.
CAN in Automation 2005
[DS-305] CiA DS-305 V2.0 – Layer Setting Service (LSS) and Protocols. CAN in
Automation 2006
[DS-401] CiA DS-401 V3.0 – CANopen device profile for generic I/O modules. CAN in
Automation 2008
These documents are available from the CAN in Automation e.V. website http://www.can-cia.org/.

UMDIO128CO Version 2.0.1 Preliminary Documentation – May be Subject to Change iii
TABLE OF CONTENTS
1. OVERVIEW OF CONTROLLER………………...…………………………………..………………………..5
1.1. Description of 12 Input, 8 Output Controller………………….…………………………………….. 5
1.2. LED Indicator………………...………………………………………………………………………… 6
1.3. Error Detection and Reaction………………………………………………………………………… 7
1.4. Digital Input Function Block…………………………………………………………………………... 8
1.5. Digital Output Function Block………….……………………………………………………………... 10
1.6. Miscellaneous Function Block……………………………………………………..…………………. 11
2. INSTALLATION INSTRUCTIONS……………………………………………………..…………................ 12
2.1. Dimensions and Pinout………………………………………………………………..……………… 12
2.2. Installation Instructions ……………………………………………………………...……...….…….. 14
3. CANOPEN ® OBJECT DICTIONARY………………....………………………………..………………….. 16
3.1. NODE ID and BAUDRATE……………….………………………………..……………………….… 16
3.1.1. LSS Protocol to Update………………..……………………………………….………………... 16
3.2. COMMUNICATION OBJECTS (DS-301 and DS-401)…….………………………………..…..… 20
3.2.1. Object 1000h: Device Type…….……………………………....………………………..…........ 21
3.2.2. Object 1001h: Error Register………………..………………….………………………..…........ 22
3.2.3. Object 1003h: Pre-Defined Error Field………..………………………..…..…………….......... 22
3.2.4. Object 100Ch and 100Dh: Guard Time and Lifetime Factor…….…………………………… 23
3.2.5. Object 1010h: Store Parameters…………………………..……………..……………..…........ 24
3.2.6. Object 1011h: Restore Parameters……………………..………………………..…………...... 25
3.2.7. Object 1016h: Consumer Heartbeat Time………..………………………..…......................... 27
3.2.8. Object 1017h: Producer Heartbeat Time………..……………………………………....…....... 28
3.2.9. Object 1018h: Identity Object……………………………..……………………………..…........ 28
3.2.10. Object 1020h: Verify Configuration………………..………………………..…......................... 29
3.2.11. Object 1029h: Error Behaviour……………………………..………………………..………...... 30
3.2.12. RPDO Behaviour.…………………………...……………………………..……………………… 31
3.2.13. TPDO Behaviour……………...……………………………..………………………..………...... 34
3.3. APPLICATION OBJECTS (DS-401)……..………………………………..….…………………….. 36
3.3.1. Object 6000h: DI Read Input 8-bit……….……...………………………………..…………….. 36
3.3.2. Object 6002h: DI Polarity 8-bit……….……..………………………………..………………….. 37
3.3.3. Object 6003h: DI Filter Input 8-bit……….……..………………………………..…………….... 37
3.3.4. Object 6005h: DI Global Interrupt Enable 8-bit……….……..………………………………… 38
3.3.5. Object 6006h: DI Interrupt Mask Any Change 8-bit……….……..……………………………. 39
3.3.6. Object 6007h: DI Interrupt Mask Low-to-High 8-bit……….……..……………………………. 40
3.3.7. Object 6008h: DI Interrupt Mask High-to-Low 8-bit……….……..……………………………. 41
3.3.8. Object 6200h: DO Write Output 8-bit.……..………………………………..…………………... 42
3.3.9. Object 6202h: DO Polarity 8-bit……….……..……………………………………………….…. 42
3.3.10. Object 6206h: DO Error Mode 8-bit……….……..………………………………………..……. 43
3.3.11. Object 6207h: DO Error Value 8-bit……….……..……………………………………………... 44

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3.4. MANUFACTURER OBJECTS……..………………………………..………………………..……… 45
3.4.1. Object 2002h: DI Latched 8-bit……….……...………………………………..………………… 45
3.4.2. Object 2003h: DI Debounce Time…….……….……...………………..……………………..... 46
3.4.3. Object 2200h: DO Read Output 8-bit……...….………………………………………………… 46
3.4.4. Object 2210h: DO Control Source 8-bit……...….……………………………………………… 47
3.4.5. Object 2211h: DO Discrete Control Number………...….…………………………..…………. 48
3.4.6. Object 2220h: DO Enable Input Used 8-bit……...….……………………………………….… 49
3.4.7. Object 2221h: DO Discrete Enable Number……...….………………………………………… 50
3.4.8. Object 3000h: CAN Slew Rate…….……...….…………………………………………………. 51
3.4.9. Object 5555h: Start In Operational Mode……...….……………………………………………. 51
APPENDIX A – Technical Specifications………………………………………………………………..….… A
LIST OF FIGURES
1. Hardware Block Diagram……...….……………………...……………...….……………..…………………. 5
2. Digital Input Objects……...….…………………………………...….………………………………….…….. 8
3. Digital Input Debouncing……...….…………………………………...….…………………………………... 8
4. Digital Input Latched Logic……...….…………………………………...….………………………………… 9
5. Digital Output Objects……...….…………………………………...….………………………………….…... 10
6. Housing Dimensions……...….……...….……...….……...….……...….……...….……...….……………… 12
7. 8-Pin Connections………...….……...….……...….……...….……...….……...….……...….……………… 12
8. 40-Pin Connections..……...….……...….……...….……...….……...….……...….……...….……………… 13
LIST OF TABLES
1. Relay and LED Operation Depending on Node State………………………..……………………………. 6
2. Digital Input Bitmap……...….……...….……...….……...….……...….……...….………..….……………… 8
3. Digital Output Bitmap……...….……...….……...….……...….……...….……...….……...….……………... 10
4. Pre-Defined Error Field Codes……………………………………………………………………………….. 22

UMDIO128CO V2.0.1 Preliminary Documentation – May be Subject to Change 5-53
1. OVERVIEW OF CONTROLLER
1.1. Description of 12 Input, 8 Output Controller
The Discrete 12 Input, 8 Relay Output Module (DIO128) is designed to provide a simple interface
between a CiA CANopen ® network and discrete electronic devices in a power generator set
control system or industrial environment. It can translate voltage levels on the inputs to a bit in a
TPDO data byte. The outputs can be either controlled by any discrete input on the DIO128, or it
can receive and process a bit in an RPDO data byte to control the relays. The outputs can also be
individually or globally enabled/disabled by a discrete input while being controlled by an RPDO
message.
All twelve inputs on the unit accept an active low (i.e. switched to ground) digital signal. When the
digital input (DI) is left open, the pin is internally pulled up to +5V with a 10kresistor. When the
input is connected to GND, the controller considers the input to be ON. Debounce filtering for each
input is provided to prevent spurious signals from erroneously energizing/de-energize a relay or
saturating the CAN network.
The eight outputs on the unit are Form C relays which are energized when the digital output (DO)
is ON. See Appendix A for the full technical specification of the relays.
Figure 1 – Hardware Block Diagram

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The DIO128 is a versatile controller compliant with the CiA standard DS-401. It supports many
objects from that device profile as well as some manufacturer objects to provide expanded
functionality. All objects are user configurable using standard commercially available tools that can
interact with a CANopen ® Object Dictionary via an .EDS file.
Depending on how they set it up, the user can easily switch from having the relays respond to CAN
commands; using the discrete inputs to drive some or all of the outputs; having them go to an
individually preset state in error mode; or to enable/disable them using a discrete input(s).
1.2. LED Indicator
A front panel bi-color LED indicator allows user to observe the current state of DIO128 and easily
identify a normal operating condition and situations when there is a network error or absence of
network traffic. In case of an error on the network, power glitch or other emergency situation, the
DIO128 will self-recover to the pre-operational mode immediately after the normal condition is
restored.
State Relay Operation LED
Operation Notes
INITIALIZING OFF OFF
PRE-
OPERATIONAL
Respond only to discrete input
(DI) commands
Solid GREEN
OPERATIONAL Respond to both DI and CAN
data (RPDO1) commands
Blinking
GREEN
If no CAN messages are
received after 3 seconds,
LED will alternate blinking
RED and GREEN
STOPPED OFF Blinking RED
BUSOFF Error Value or per Pre-Op state Solid RED
If bit in DO Error Mode
object 6206h is set, the
Error Value is applied
Lost Consumer
Heartbeat
Error Value or per State
selected by Error Behaviour
object 1029h
Per node state
RPDO1
Timeout
Table 1 – Relay and LED Operation Depending on Node State

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1.3. Error Detection and Reaction
As shown in the last columns of Table 1, there are three types of errors that the DIO128 can detect
and react to:
1 = CAN Bus Error Unit automatically enters BUSOFF state and stays there until reconnection
to the network is established
2 = Lost Heartbeat When object 1016h, Consumer Heartbeat Time sub-index 1, has a non-
zero valid entry. (Note: only one HB consumer is supported in this module)
3 = Lost RPDO1 When object 1400h, Receive PDO1 Parameter sub-index 5 is written with
a non-zero value, the unit will expect to receive the message within that
timeframe (ms resolution) or else the unit will flag a lost RPDO1 error.
If any of these errors should occur, object 1001h, Error Register will be set to 0x01 (generic error)
and the error will be added to 1003h, Pre-Defined Error Field as outlined in Section 3.2.3.
In the case of a CAN network fault, the module will remain in the BUSOFF mode until the problem
is resolved, regardless of what is set in object 1029h, Error Behaviour sub-index 1. Only once
the conditions causing the error are gone and connection to the network has been successfully re-
established will the unit evaluate 1029h.
If object 1017h, Producer Heartbeat Time (default 0) is zero, the unit will send a heartbeat
showing that it is in BUSOFF mode (255) every 3 seconds in order to determine when the network
is present even if no other nodes are transmitting data at the time. If a heartbeat would be sent
regularly due to a non-zero value in 1017h, this feature is not required.
For a lost heartbeat or RPDO1, however, the unit will immediately evaluate object 1029h sub-
indexes 2 and 3 respectively, and change the node state accordingly. Both of these errors will also
set object 1001h to 0x01.
Only once all errors in the module have been cleared will object 1001h be reset to 0x00.

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1.4. Digital Input Function Block
Figure 2 – Digital Input Objects
For the digital inputs (DI), all associated objects (except 2003h) are an 8-bit type. The table below
shows the relationship between each bit and the corresponding input.
Subindex Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
1 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1
2 - - - - DI12 DI11 DI10 DI9
Table 2 – Digital Input Bitmap
In all cases when talking about bit data, the following relationships hold true:
0 = OFF 1 = ON
0 = FALSE 1 = TRUE
0 = DISABLED 1 = ENABLED
When evaluating a DI, the controller will read the level (0,1) at the pin, and when it detects a
change of state, it looks at object 6002h, DI Filter Input. When filtering is ENABLED (default 1),
the level change at the input will not be passed to the rest of the function block until after the time
in 2003h, DI Debounce Time (default 30ms) has elapsed, as shown in Figure 3. If and only if the
input is the same after debouncing will the state change be reflected in the “Input Level” logic. If
6002h is DISABLED, the “Input Level” immediately reflects the state of the pin.
Figure 3 – Digital Input Debouncing

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Next, the controller looks at object 2002h, DI Latched (default 0), and if TRUE the “Input State” of
the input will toggle only on the rising edge of the input, as shown in Figure 4. This type of input
could be used with a momentary push-button. Note: When 2002h is true, object 6002h is ignored.
Figure 4 – Digital Input Latched Logic
If not using latched logic, the controller then evaluates object 6002h, DI Polarity (default 0). When
it is ENABLED, the “Input State” will be the opposite of the “Input Level.”
The “Input State” value is written to object 6000h, DI Read Input a read-only object that is mapped
to TPDO1 by default, as outlined in Section 3.2.13. When TPDO1 is defined to be an event driven
transmission type (default 255), object 6005h, DI Global Interrupt Enable (default 1) is applicable.
In this case, the TPDO will only be sent when the “Input State” changes.
What kind of state change activates the transmission is determined by one, and only one, of the
following objects. First, object 6006h, DI Interrupt Mask Any Change (default 1) is evaluated. If it
is TRUE, then TPDO1 is sent every time the “Input State” changes. If and only if 6006h is false,
then object 6007h, DI Interrupt Mask Low-to-High (default 0) is evaluated. If it is TRUE, then
TPDO1 is sent only on the rising edge of the input, i.e. when the “Input State” changes from 0 to 1.
Lastly, if and only if 6006h and 6007h are false, then object 6008h, DI Interrupt Mask High-to-
Low (default 0) is evaluated. If it is TRUE, then TPDO1 is sent only on the falling edge of the input,
i.e. when the “Input State” changes from 1 to 0.
If 6005h is TRUE, but 6006h, 6007h and 6008h are all FALSE (should not be done!), then the
controller will default to the 6006h behaviour, where any state change will cause TPDO1 to be
sent.

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1.5. Digital Output Function Block
Figure 5 – Digital Output Objects
For the digital outputs (DO), all associated objects (except 2211h and 2221h) are an 8-bit type.
The table below shows the relationship between each bit and the corresponding relay output.
Subindex Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
1 DO8 DO7 DO6 DO5 DO4 DO3 DO2 DO1
Table 3 – Digital Output Bitmap
When driving the outputs, the first thing the controller checks is that it is not in an error state by
reading object 1001h, Error Register. If an error is active, then object 6206h, DO Error Mode
(default 1) is evaluated, and if it is 1, then the “Logic State” is immediately set to the value in object
6207h, Error Value (default 0). In this case, none of the other logic outlined below (except polarity)
is applied.
If no error is active, or 6206h is 0, then the enable logic for the output is evaluated. Object 2220h,
DO Enable Input Used (default 0) is read, and if TRUE then the state of the input at the sub-index
defined in object 2221h, DO Discrete Enable Number (default 9) is read. If this input is OFF, then
the “Logic State” is immediately set OFF and none of the other logic outlined below (except
polarity) is applied.
If 2220h is FALSE, or the enable input is ON, then the controller checks the node state. If
STOPPED, then the “Logic State” is automatically set OFF, unless 6206h is set in which case
“Logic State” is set to 6207h. In all other modes (including BUSOFF), object 2210h, DO Control
Source (default 1) is read.

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When 2210h is set (1) the output is controlled by the data in object 6200h, DO Write Output
(default 0) which is mapped to RPDO1 by default. Since PDOs do not exist in PRE-
OPERATIONAL mode, the “Logic State” is always set OFF in this case. In OPERATIONAL mode,
however, the “Logic State” will reflect the value in object 6200h.
When 2210h is clear (0), the output is controlled by the state of the input at the sub-index defined
in object 2211h, DO Discrete Control Number (default same as DO number, 1 to 8.) In PRE-
OPERATIONAL, OPERATIONAL and BUSOFF modes, the outputs can be controlled directly by
any one of the on-board discrete inputs. In these modes, the “Logic State” will reflect the selected
“Input State” reflected in object 6000h.
Once the “Logic State” for the output has been established per the conditions above, object 6202h,
DO Polarity (default 0) is evaluated. When it is ENABLED, the “Relay State” will be the opposite of
the “Logic State.”
The value “Relay State” is applied to the relay outputs. When ON, the relay is energized. Since the
actual state of the relay output does not necessarily reflect the value in object 6200h, object
2200h, DO Read Output a read-only object reflecting the actual output state which is mapped to
TPDO1 by default, as outlined in Section 3.2.13.
1.6. Miscellaneous Function Block
There are two other objects available which have not yet been discussed. The first object 3000h,
CAN Slew Rate (default 1) can be used to select either a FAST (1) or SLOW (0) slew rate for the
bits sent to the CAN network.
The final object 5555h, Start in Operational (default 0) is provided as a ‘cheat’ when the unit is
not intended to work with a CANopen network (i.e. a stand-alone control), or is working on a
network comprised solely as slaves so the OPERATION command will never be received from a
master. By default this object is disabled (FALSE).

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2. INSTALLATION INSTRUCTIONS
2.1. Dimensions and Pinout
NB. The AXDIO128 is shown here. The model AXDIO128CO has the same packaging, connectors, pin out and dimensions.
Figure 6 – Housing Dimensions
Figure 7 – 8-Pin Connections

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Figure 8 – 40-Pin Connections
Connections – I/O
INPUT
DIN GND
LOAD LOAD
OUTPUT
NO NC C

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2.2. Installation Instructions
NOTES & WARNINGS
Do not install near high-voltage or high-current devices.
Ground the chassis for safety purposes and proper EMI shielding.
Note the operating temperature range. All field wiring must be suitable for that temperature
range.
Install the unit with appropriate space available for servicing and for adequate wire harness
access (6 inches or 15 cm) and strain relief (12 inches or 30 cm).
Do not connect or disconnect the unit while the circuit is live, unless the area is known to be
non-hazardous.
MOUNTING
Mounting ledges include holes sized for ¼ inch or M6 bolts. The bolt length will be determined by
the end-user’s mounting plate thickness. Typically ¾ inch (20 mm) is adequate.
If the module is mounted without an enclosure, it should be mounted vertically with connectors
facing left and right to reduce likelihood of moisture entry.
The CAN wiring is considered intrinsically safe. The power wires are not considered intrinsically
safe and so in hazardous locations, they need to be located in conduit or conduit trays at all times.
The module must be mounted in an enclosure in hazardous locations for this purpose.
No wire or cable harness should exceed 30 meters in length. The power input wiring should be
limited to 10 meters.
CONNECTIONS
Use the following Deutsch IPD mating plugs to connect to the integral receptacles. Wiring to these
mating plugs must be in accordance with all applicable local codes. Suitable field wiring for the
rated voltage and current must be used. The rating of the connecting cables must be at least
85°C. For ambient temperatures below –10°C and above +70°C, use field wiring suitable for both
minimum and maximum ambient temperature.
Mating Connectors
DT06-8SA and wedge W8S
DRC16-40SB
(Power and CAN)
(I/O Interface)
Sockets
0462-201-16141 or acceptable alternate
Refer to www.laddinc.com for more information on the
contacts available for this mating plug.

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Axiomatic offers a mating plug kit for the product, P/N: AX070200.
This kit includes the following items.
NB. The sealing plugs are only needed in cases where not all of the 40 pins are used.
Deutsch IPD P/N: Description:
0462-201-16141 48 16AWG SOCKETS SOLID 16-20AWG WIRE 6mm
114017 24 SEALING PLUGS SIZE 12-16 CAVITIES 12-18 AWG
DRC16-40S 40-PIN PLUG, No Key
DT06-08SA DT SERIES PLUG 8 CONTACT
W8S WEDGELOCK FOR DT 8 PIN PLUG
These items are also available from a local Deutsch IPD distributor.
A crimping tool from Deutsch IPD is required to connect wiring to the sockets, P/N: HDT 48-00 or
equivalent (not supplied).
NOISE – ELECTRICAL CONNECTIONS AND SHIELDING
To reduce noise, separate all power and output wires from those of the input and CAN. Shielded
wires will protect against injected noise. Shield wires should be connected at the power or input
source, or at the output load.
The CAN shield can be connected at the controller using the CAN Shield pin provide on the
connector. However the other end should not be connected in this case.
All wires used must be 16 or 18 AWG.
GROUNDING
Protective Earth (PE) must be connected to the module’s grounding lug to reduce the risk of
electric shock. The conductor providing the connection must have a ring lug and wire larger than or
equal to 4 mm2(12 AWG). The ring lug should be placed between the nut and a star washer.
All chassis grounding should go to a single ground point designated for the machine and all related
equipment. Axiomatic recommends that the ground strap that provides a low impedance path for
EMI should be a ½ inch wide, flat, hollow braid, no more than 12 inches long .
FUSING
When installing the unit, an external 3A, 32Vdc fuse is required.
CAN WIRING
The CAN port is electrically isolated from all other circuits. The isolation is SELV rated with respect
to product safety requirements. Refer to the CAN specification for more information.
Use CAN compatible cabling, recommended for on engine use.
Shielded CAN cable is required. The module provides the CAN port shield connection ac coupled
to chassis ground. The chassis ground stud located on the mounting foot must be tied directly to
Earth Ground.

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CAN NETWORK CONSTRUCTION
Axiomatic recommends that multi-drop networks be constructed using a “daisy chain” or
“backbone” configuration with short drop lines.
CAN TERMINATION
It is necessary to terminate the network; therefore an external CAN termination is required. No
more than two network terminators should be used on any one single network. A terminator is a
121, 0.25 W, 1% metal film resistor placed between CAN_H and CAN_L terminals at the end two
nodes on a network.

UMDIO128CO V2.0.1 Preliminary Documentation – May be Subject to Change 17-53
3. CANOPEN ® OBJECT DICTIONARY
The CANopen object dictionary of the DIO128 Controller is based on CiA device profile DS-401
V3.0 (device profile for generic I/O modules). The object dictionary includes Communication
Objects beyond the minimum requirements in the profile, as well as several manufacturer-specific
objects for extended functionality.
3.1. NODE ID and BAUDRATE
By default, the DIO128 Controller ships factory programmed with a Node ID = 127 (0x7F) and with
Baudrate = 125 kbps.
3.1.1. LSS Protocol to Update
The only means by which the Node-ID and Baudrate can be changed is to use Layer Settling
Services (LSS) and protocols as defined by CANopen ® standard DS-305.
Follow the steps below to configure either variable using LSS protocol. If required, please refer to
the standard for more detailed information about how to use the protocol.
3.1.1.1. Setting Node-ID
Set the module state to LSS-configuration by sending the following message:
Item Value
COB-ID 0x7E5
Length 2
Data 0 0x04 (cs=4 for switch state global)
Data 1 0x01 (switches to configuration state)
Set the Node-ID by sending the following message:
Item Value
COB-ID 0x7E5
Length 2
Data 0 0x11 (cs=17 for configure node-id)
Data 1 Node-ID (set new Node-ID as a hexadecimal number)
The module will send the following response (any other response is a failure):
Item Value
COB-ID 0x7E4
Length 3
Data 0 0x11 (cs=17 for configure node-id)
Data 1 0x00
Data 2 0x00

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Save the configuration by sending the following message:
Item Value
COB-ID 0x7E5
Length 1
Data 0 0x17 (cs=23 for store configuration)
The module will send the following response (any other response is a failure):
Item Value
COB-ID 0x7E4
Length 3
Data 0 0x17 (cs=23 for store configuration)
Data 1 0x00
Data 2 0x00
Set the module state to LSS-operation by sending the following message:
(Note, the module will reset itself back to the pre-operational state)
Item Value
COB-ID 0x7E5
Length 2
Data 0 0x04 (cs=4 for switch state global)
Data 1 0x00 (switches to waiting state)
3.1.1.2. Setting Baudrate
Set the module state to LSS-configuration by sending the following message:
Item Value
COB-ID 0x7E5
Length 2
Data 0 0x04 (cs=4 for switch state global)
Data 1 0x01 (switches to configuration state)
Set the baudrate by sending the following message:
Item Value
COB-ID 0x7E5
Length 3
Data 0 0x13 (cs=19 for configure bit timing parameters)
Data 1 0x00 (switches to waiting state)
Data 2 Index (select baudrate index per table 32)

UMDIO128CO V2.0.1 Preliminary Documentation – May be Subject to Change 19-53
Index Bit Rate
0 1 Mbit/s
1 800 kbit/s
2 500 kbit/s
3 250 kbit/s
4 125 kbit/s (default)
5 reserved (100 kbit/s)
6 50 kbit/s
7 20 kbit/s
8 10 kbit/s
Table 32 – LSS Baudrate Indexes
The module will send the following response (any other response is a failure):
Item Value
COB-ID 0x7E4
Length 3
Data 0 0x13 (cs=19 for configure bit timing parameters)
Data 1 0x00
Data 2 0x00
Activate bit timing parameters by sending the following message:
Item Value
COB-ID 0x7E5
Length 3
Data 0 0x15 (cs=19 for activate bit timing parameters)
Data 1 <delay_lsb>
Data 2 <delay_msb>
The delay individually defines the duration of the two periods of time to wait until the bit timing
parameters switch is done (first period) and before transmitting any CAN message with the new bit
timing parameters after performing the switch (second period). The time unit of switch delay is 1
ms.
Save the configuration by sending the following message (on the NEW baudrate):
Item Value
COB-ID 0x7E5
Length 1
Data 0 0x17 (cs=23 for store configuration)

UMDIO128CO V2.0.1 Preliminary Documentation – May be Subject to Change 20-53
The module will send the following response (any other response is a failure):
Item Value
COB-ID 0x7E4
Length 3
Data 0 0x17 (cs=23 for store configuration)
Data 1 0x00
Data 2 0x00
Set the module state to LSS-operation by sending the following message:
(Note, the module will reset itself back to the pre-operational state)
Item Value
COB-ID 0x7E5
Length 2
Data 0 0x04 (cs=4 for switch state global)
Data 1 0x00 (switches to waiting state)
The following screen capture (left) shows the CAN data was sent (7E5h) and received (7E4h) by
the tool when the baudrate was changed to 250 kbps using the LSS protocol. The other image
(right) shows what was printed on an example debug RS-232 menu while the operation took place.
Between CAN Frame 4 and 5, the baudrate on the CAN Scope tool was changed from 125 to 250
kbps.