Product Manual CANcockpit
TU00-0726-5111102 Technische Änderungen vorbehalten 0609 Technical details subject to change 5.2 - 21
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CANopen-Specification for CANcockpit
Read and Write an EEPROM Data Record from and to EEPROM access buffer (2005h).
This object is required to transfer data records to and from CANcockpit via the CANopen interface. The data is contained in
Data Records as specified below. One record contains 16 or less data bytes and only one record is transferred at any time.
This way the SDO client can access the complete EEPROM data record for record.
OBJECT DESCRIPTION
Index 2005h
Name Read and Write EEPROM Data Record
Object Code VAR
Data Type OCTET_STRING
Category Optional
ENTRY DESCRIPTION
Access Rw
PDO Mapping No
Value Range 0x00 to 0xFF
Default Value N/A
EEPROM Data Record Format for CANopen interface of CANcockpit:
Description Data 16bit-Address
Number of valid
data bytes
Reserved Checksum
Size/ bytes 16 2 1 1 1
Symbol D[16] LH N R C
Symbol Description
D[16] 16 data bytes are transferred in this field.
LH Here the target address as a 16bit hexadecimal value is entered. The first byte represents the low byte
of this address. The following byte is the high byte of the address. The address is a byte address, but
because the EEPROM is organised in 16bit words, this address (LH) must always be an even number.
N This byte indicates the number of valid data bytes contained from the beginning of D[16]. This byte must
always be set to 16. Other values will result in an error.
R Reserved, please set to 0.
C Each record ends with an 8bit Checksum field, which contains the two's complement of the 8bit sum of
all bytes starting from "D[0]" to and including "R". Therefore, adding this sum and the value contained in
the Checksum field (8bit addition) must result in zero.
Read Data Record from EEPROM
To read EEPROM data the object 2006h has to be read first to check, if the EEPROM is not busy, then a read command
including the byte address of the requested data can be written into object 2006h. Next object 2006h has to be polled until the
Rdy-Bit is 1, indicating that the requested data is available in object 2005h or until the Err-Bit becomes 1, indicating an error.
In case of an error no data can be read, otherwise the EEPROM Data Record in object 2005h contains the requested data
and can now be read.
Note: EEPROM read/ write access should not be performed during normal system operation. A hardware reset is
required to make EEPROM changes active after successfully writing to EEPROM. EEPROM block checksums have to
be correct.
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