Systec Electronic CANopen ChipF40, Системное руководство

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© SYS TEC electronic GmbH 2010 L-1062e_9
follows:
MSB LSB
‘d’ ‘a’ ‘o’ ‘l’
64h 61h 6fh 6ch
In order to set the default values, a Reset/Power-On must be
subsequently executed.
8.7 NMT-Boot-Configuration
The CANopen ChipF40 can be configured, that it works as a NMT-
Boot-Master for all CANopen-Nodes in the network. The
configurations is made in the Object Dictionary at Index [2001H].
Subindex 1 is the entry for NMT-Boot-Enable:
- 0 (default), Node is no Boot-Master
- 1 Node is Boot-Master.
Subindex 2 is the entry for NMT-Start-Time: It is the delay-time [ms]
after this the node sends the NMT-Boot-Message (default 500ms,
max. 65s).
The entries for NMT-Boot-Configuration are saved into EEPROM
when they are written. They are not used at save and recover the OD
(see also section 8.6 ). So the entry has to written directly with the
recommended values to configure the CANopen ChipF40 as Boot-
Master or not.
The configuration will be active at the next reset of the
CANopen ChipF40.
Example for SDO messages for write NMT-Boot-Enable und NMT-
Start-Time:
Action CAN ID for
Node 0x40 DLC SDO
Cmd
Index Sub-
index
Value
set NMT-Boot-Enable 640 8 2F 01 20 01 01 00 00 00
clear NMT-Boot-Enable 640 8 2F 01 20 01 00 00 00 00
set NMT-Start-Time to
0x3E8 640 8 2B 01 20 02 E8 03 00 00
Table 24: SDOs zum Setzen der NMT-Boot-Konfiguration
The used CAN-Identifier is 0x600 + Node-ID. The values are
according to CANopen-Standard LSB first.