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Appendix B:
ECM CANopen OS Commands
A user-specific CANopen OS Command to the NOxCAN module is sent using an SDO
expedited write message in the following form. These commands apply only to the NOxCAN
module and are listed on the following page:
CANid
byte 0 byte 1
byte 2
byte 3
byte 4
byte 5 byte 6 byte 7
0x600+NID 0x2F 0x23 0x10 0x01 Command
Issuing a SDO Read of OD address 0x1023, subindex 0x02 will indicate the status of the
command.
CANid
byte 0 byte 1
byte 2
byte 3
byte 4
byte 5
byte 6
byte 7
0x600+NID
0x40
0x23
0x10
0x02
The module will reply as follows:
CANid
byte 0 byte 1
byte 2
byte 3
byte 4
byte 5 byte 6 byte 7
0x580+NID 0x4F 0x23 0x10 0x02
Status
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 byte 1
byte 2
byte 3
byte 4
byte 5
byte 6
byte 7
0x600+NID
0x40
0x23
0x10
0x03
The reply value will be located in byte 4 of the response to the SDO Read.
CANid
byte 0 byte 1
byte 2
byte 3
byte 4
byte 5 byte 6 byte 7
0x580+NID 0x4F 0x23 0x10 0x03
Reply
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.