can-bus - Automatic Node ID assignment for LSS Slaves without LSS Master

Question

I am currently doing a system design with CANopen communication and I am curious about the following question.

In the system a device is programmed to have no Node-Id assigned (255) on startup. Normaly a LSS Master now has to assign a specific Node-Id to the device to work properly. However, if there is no LSS Master functionality implemented in any other bus node, does the CANopen standard allows the the unconfigured device to assign itself a predefined ID after a timeout?

In my opinion this is not possible because it can lead to undefined system states but I could not find anything in the standard documents.

标签： can-buscanopen