coval LEMCOM Series - 3020 H - Software Version

LEMCOM CANopen® – User manual Detailed description of CANopen objects
COVAL – LMCOP-EN-A-1155UM0068 36/49
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)
Byte 0
X
X
X
X
X
X
X
X
7
6
5
4
3
2
1
0
Byte 1: Modules at addresses 8 to 15 (secondary modules)
Byte 1
X
X
X
X
X
X
X
X
15
14
13
12
11
10
9
8
Example
The following data is received subsequent to the transmission of an SDO command / object 3011h:
Byte 0
Byte 1
Hexadecimal
3Fh
40h
Binary
0
0
1
1
1
1
1
1
0
1
0
0
0
0
0
0
Module address
7
6
5
4
3
2
1
0
15
14
13
12
11
10
9
8
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
(600h+ID)
620h
Command
2Fh
Object L
20h
Object H
30h
Subindex
01h
Byte 0
00h
Byte 1
00h
Byte 2
00h
Byte 3
00h
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).