ECM appsCAN Module Instruction Manual page 53

7.0 ECM CANopen OS Commands
A user-specific CANopen OS Command to the appsCAN module is sent using an SDO
expedited write message in the following form. These commands apply only to the appsCAN
module and are listed on the following page:
CANid byte 0
0x600+NID 0x2F
Issuing a SDO Read of OD address 0x1023, subindex 0x02 will indicate the status of the
command.
CANid byte 0
0x600+NID 0x40
The module will reply as follows:
CANid byte 0
0x580+NID 0x4F
The values that may be returned are listed below.
Status
0x00 Last command completed. No error occurred. No reply.
0x01 Last command completed. No error occurred. The reply can now be read.
0x02 Last command completed. Error occurred. No reply.
0x03 Last command completed. Error occurred. The reply can now be read.
0x04 - FE Reserved
0xFF Command is executing.
If there is a reply it can read using an SDO Read of OD address 0x1023, subindex 0x03.
CANid byte 0
0x600+NID 0x40
The reply value will be located in byte 4 of the response to the SDO Read.
CANid byte 0
0x580+NID 0x4F
The reply values and what they indicate are listed on the following page. Commands that are
written in ITALICS are valid only in Expert Mode.
byte 1 byte 2 byte 3
0x23 0x10 0x01
byte 1 byte 2 byte 3
0x23 0x10 0x02
byte 1 byte 2 byte 3
0x23 0x10 0x02
byte 1 byte 2 byte 3
0x23 0x10 0x03
byte 1 byte 2 byte 3
0x23 0x10 0x03
byte 4 byte 5
Command
byte 4 byte 5
byte 4 byte 5
Status
byte 4 byte 5
byte 4 byte 5
Reply
byte 6 byte 7
byte 6 byte 7
byte 6 byte 7
byte 6 byte 7
byte 6 byte 7
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