trapulsPac - User Guide
Chapter 3 – Reference
Object File
Object file format
The object file (i.e. CANopen object) is a plain text file allowing the definition of an object list in the drive, which
values must be defined.
The syntaxis is:
index,sub=object_value
All digital values can be in hexa (preceeded by 0x) or decimal.
Only one allocation per line is allowed.
A comment line begins with a ;
All lines that do not begin with a figure will be ignored.
Example:
0x3549,10=0x12
means the allocation of value 0x12 to object index 0x3549 sub-index 10
13641,0xA=18
gives the same result.
Notes
- The drive parameter file (DRIVEPAR.TXT) has also got this format.
- The USER_PAR.TXT file is not mandatory. It allows, for example, defining an initial configuration of the drive
directly by the user.
3.2.6.2 - Firmware update
Update File
An Update File contains a file header and one or several data blocks.
File_Header
Binary_Block_1
Binary_Block_2
...
Binary_Block_n
File_Header (32 bytes):
00000000 File_code 'IDUF' (0x46554449)
00000004 File_crc32: from byte 4 to the end of file
00000008 Protect Data length (bytes): file_length - 8
0000000C Device Sectors
00000010 Update_Code
00000012 Number of Binary Blocks
00000014 Number of Block Type
00000016 Version
00000018 Device Address
0000001C reserved
00000020 First Binary Block
Binary_Block_k: Block_Header + Block_Data
Block header (16 bytes):
00000000 Block_crc32: from byte 4 to the end of block
00000004 Block_type: 1-algo, 2-security, 3-code
00000006 Block_Cmd
00000008 Block_addr: Device memory address
0000000C Block_length: length of block data (bytes)
00000010 Block data...