
Kübler Group 5 Commissioning and Operation
Manual CAN - Ants LES02 - R67073.0002 - 01 EN - 13
Ants LES02 transmits
detected errors
Every channel transmits detected errors via error messages.
Error messages have ID 0x20(0x21).
Length of the message is 8 bytes.
Byte 8 describes the error type.
Bytes 1-7 show additional information, which is issued according to
the error type. This information is not specified more in detail, but it
should be recorded in the event of an error for diagnostic purposes
by the manufacturer.
A list of all error codes is attached. The evaluation unit must make
the recorded errors available to specialized personnel.
Ants LES02 transmits
status messages
Every channel also transmits status messages outside of normal op-
eration. Status messages have ID 0x30(0x31).
Length of the message is 8 bytes.
Byte 8 describes the sub status message: 0x0F channel starts (here
byte 1-4 CRC of the LES software), 0xF0 channel ready.
In channel ready, the meaning of the byte is not specified.
Ants LES02 transmits
position data
Every channel transmits its position data.
Length of the message is 4 bytes.
Bytes 1-3 show the global position of the channel (MSB first). This
data must be checked for plausibility (see above).
Byte 4 is not specified further.
Ants LES02 is in
locked state
Ants LES02 is in locked state and no longer sends messages, ex-
cepted the LES locked subsystem message (see above) with the
current unlock key.
An evaluation unit can unlock the sensor by sending a LES unlock
subsystem message together with the currently valid unlock key in
bytes 1-2. The key of the LES locked message is constantly chan-
ging. The validity time window of an unlock key is 30 ms. Therefore,
an evaluation unit must read this key and send without great delay a
LES unlock subsystem message (ID 0x10, see above) including the
key read.
The repeated unlocking of the LES after an error is the responsibility
of the evaluation circuit.
Only Ants LES02 is
allowed to send via the
CAN bus
Only Ants LES02 itself is allowed to send messages via the CAN
bus. The only exception is the sending of LES unlock subsystem
messages by the evaluation unit. In an unauthorized message is de-
tected, an error is issued and the sensor locks.
5.5 CAN Error Codes
In general, the sensor cannot be repaired. A defective device must be replaced as a whole.
NOTICE Traceability of safety components
It must be noted that the device generally is a subsystem of a safety
system and that therefore the traceability of safety components must
be ensured.
So please record which device (serial number) has been replaced
with which new device (serial number).