PD4-C/-CB CANopen Online Manual

2800h Bootloader And Reboot Settings

Function

With this object, a reboot of the firmware can be triggered and the short circuiting of the motor windings in boot loader mode switched off and on.

Object description

Index 2800h
Object name Bootloader And Reboot Settings
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: application
Access read only
PDO mapping no
Allowed values
Preset value
Firmware version FIR-v1540
Change history

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 03h
Subindex 01h
Name Reboot Command
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 02h
Name Reboot Delay Time In Ms
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 03h
Name Bootloader HW Config
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h

Description

The subindices have the following function:

  • 01h: If the value 746F6F62h is entered here, the firmware is rebooted.
  • 02h: Time in milliseconds: delays the reboot of the firmware by the respective time.
  • 03h: Bit 0 can be used to switch short circuiting of the motor windings in boot loader mode off and on:
    • Bit 0 = 1: Short circuiting of the motor windings in boot loader mode is switched off.
    • Bit 0 = 0: Short circuiting of the motor windings in boot loader mode is switched on.
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