3020H - Software Version - coval LEMCOM Series User Manual

LEMCOM CANopen® – User manual
Structure of data
Note: Bit set to 1  module present on the COVAL bus
Bit set to 0  module absent from the COVAL bus
Byte 0: Modules at addresses 0 to 7 (0 = master, 1 to 7 = secondaries)
X
Byte 0
7
Byte 1: Modules at addresses 8 to 15 (secondary modules)
X
Byte 1
15
Example
The following data is received subsequent to the transmission of an SDO command / object 3011h:
Hexadecimal
Binary
Module address
The modules present on the bus are thus: #0 (master), #1, #2, #3, #4, #5 and #14.
12.18 3020h – Software version
The firmware version of each module can be read as follows:
Write the address of the module to query to object 3020h – subindex 01h
-
Read the firmware version from object 3020h – subindex 02h
-
Client (master)  server (LEMCOM)
CAN-ID
Command
(600h+ID)
2Fh
620h
Byte 0 must contain the address of the module to query.
Reading subindex 02h (5 bytes) allows the firmware version to be retrieved in the form of a human
readable character string (hex to ASCII).
COVAL – LMCOP-EN-A-1155UM0068
X X
6 5
X X
14 13
Byte 0
3Fh
0 0 1 1 1 1 1 1
7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8
Object L Object H
20h 30h
Detailed description of CANopen objects
X X
4 3
X X
12 11
Byte 1
0 1 0
Subindex Byte 0
01h 00h
X X
2 1
X X
10 9
40h
0 0 0 0 0
Byte 1 Byte 2
00h 00h
X
0
X
8
Byte 3
00h
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