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CANopen test frames
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## Init

- open two shells, i.e. async & telnet

log level verbose
can can1 start active 500000
copen can1 start

copen status
can can1 status

# …optional:
can log trace

can log crtd /store/crtd1

vfs cat /store/crtd1
vfs tail /store/crtd1


## Heartbeat/state

can can1 rx standard 701 00
can can1 rx standard 701 04
can can1 rx standard 701 05
can can1 rx standard 701 7f

metrics list co.


## EMCY

can can1 rx standard 081 12 34 56 11 22 33 44 55
metrics list co.


## NMT

# shell 1:
copen can1 nmt stop 1 5000
# shell 2:
can can1 rx standard 701 04

↓
NMT command result: OK
I (6203824) canopen: can1 node 1 new state: Stopped
I (6203824) events: Signal(canopen.node.state)


## Read SDO [expedited]

# shell 1:
copen can1 readsdo 1 2720 01 5000
# shell 2:
can can1 rx standard 581 4B 20 27 01 03 00 00 00

↓
ReadSDO #1 0x2720.01: size=2 dec=3 hex=0x3 txt='(binary)'

# shell 1:
copen can1 readsdo 1 2720 01 5000
# shell 2:
can can1 rx standard 581 47 20 27 01 43 41 4e 00

↓
ReadSDO #1 0x2720.01: size=3 dec=5128515 hex=0x4e4143 txt='CAN'


## Read SDO [segmented]

# shell 1:
copen can1 readsdo 1 2720 02 5000

# shell 2:
can can1 rx standard 581 40 20 27 02 00 00 00 00
# …
can can1 rx standard 581 00 48 65 6c 6c 6f 20 57
# …
can can1 rx standard 581 15 6f 72 6c 64 21 00 00

↓
ReadSDO #1 0x2720.02: size=12 dec=1819043144 hex=0x6c6c6548 txt='Hello World!'


## Write SDO [expedited]

# shell 1:
copen can1 writesdo 1 2720 02 0x11223344 5000

# shell 2:
can can1 rx standard 581 60 20 27 02 00 00 00 00

↓
WriteSDO #1 0x2720.02: size=4 hex=0x11223344 => OK


## Write SDO [expedited]

# shell 1:
copen can1 writesdo 1 2720 02 "Hello World!" 5000

# shell 2:
can can1 rx standard 581 60 20 27 02 00 00 00 00
# …
can can1 rx standard 581 20 00 00 00 00 00 00 00
# …
can can1 rx standard 581 30 00 00 00 00 00 00 00

↓
WriteSDO #1 0x2720.02: size=12 str='Hello World!' => OK


## Node info

copen can1 info 1


## Node scan

copen can1 scan 1-10

# full scan (~20 seconds):
copen can1 scan


## SEVCON login

# get login level:
copen can1 readsdo 1 5000 1
→ 0

# login:
copen can1 writesdo 1 5000 3 0
copen can1 writesdo 1 5000 2 0x4bdf

# get login level:
copen can1 readsdo 1 5000 1
→ 4