Reading and Generating CanOpen Device configuration Files

Reading in and generating Device Configuration Files (DCFs) is now available in GradientOne's CANOpen Editor. This post will demonstrate how to generate and read the file.

In the CAN editor, enter some frames, for example:

WRITE [0x00, 0x21, 0x46, 0x00, 0x00, 0x00, 0x59, 0x00, 0xB2, 0x00, 0x59, 0x00, 0xFE, 0xC5, 0xFD, 0x7F, 0xB2, 0x1C] to velocity_loop_output_filter on node 1

Note that you can also provide raw hex, but it must be provided as frames, one line at a time. Since the above write has more than 4 bytes, it must be expressed as a multi-frame SDO download. Entering the lines:

0x601, 0x21,  0x06, 0x21, 0x00, 0x12, 0x00, 0x00, 0x00
0x601, 0x00, 0x00, 0x21, 0x46, 0x00, 0x00, 0x00, 0x59
0x601, 0x10, 0x00, 0xB2, 0x00, 0x59, 0x00, 0xFE, 0xC5
0x601, 0x07, 0xFD, 0x7F, 0xB2, 0x1C

has the same affect as the one WRITE command above. 
 
Press Add (1), then DCF (2), and then Download as DCF (3). Your browser will load a .Bin file (4).

Looking at this binary file in a hex editor (This is Bless for linux), we can see the number of SDOs to write (red), the address (blue), the number of bytes in this SDO (green) and the SDO data (orange).

We can now take this DCF and upload it in a new session. To do this, we need to press DCF (1), then Upload DCF (2), then add the file we just downloaded using Choose File (3). Specify which node this DCF will be written to (4), by default the DCF is written to node 1. Finally, upload the file (5).

After pressing upload, the frames will be added to the frame Queue: