ECM NH3CAN, Инструкция по эксплуатации, Страница: 25 / 35

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Appendix B: ECM CANopen OS Commands
A user-specific CANopen OS Command to the NH
3
CAN module is sent using an SDO expedited
write message in the following form. These commands apply only to the NH
3
CAN 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.