Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 90)

Note: Network states 1 & 4 (disconnect & stop, respectively) can not be retrieved

using the CAN controller status object, since neither the PDO nor the SDO is

communicated. However, the DD command (RS-232 serial communication) can be

used in these cases. The node state can also be retrieved using the Heartbeat

Producer mechanism.

Object 0x208A: Begin time

This object receives an absolute time for a simultaneous Motion Begin (BG). The time

resolution for this object is 1 microsecond. For more information, refer to the BT

command section in the

SimplIQ Command Reference Manual and to Chapter 8 of this

manual.

 Object description:

Index 208Ah

Name Begin time

Object code VAR

Data type UNSIGNED32

Category Optional

 Entry description:

Access Read/Write

PDO mapping No

Value range No

Default value No

Object 0x2090: Firmware do

wnload

This object is used to download controller firmware using S-record format.

 Object description:

Index 2090h

Name Download firmware

Object code DOMAIN

Data type Visible String

Category Optional

 Entry description:

Access Write only

PDO mapping No

Value range No

CANopen DS 301 Implementation Guide Manufacturer-specific Objects

MAN-CAN301IG (Ver. 2.1)

13-13

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Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 90