Setup download and SW file checking via CANopen objects

This article presents an introduction about loading the setup files and checking its integrity using CANopen commands:

Once a project is finished, the drive Setup and/or customized motion commands can be loaded onto the drive using write data to address objects (2064h and 2065h) by reading a text file (.sw file). Later, using other CANopen objects, the data integrity can be checked using checksum objects (2069h and 206Ah). Using this method, eliminates the necessity of Technosoft software to load/verify the setup data "on the field".

In short about what a CANopen master should do:
- when starting up, it needs to verify the checksum on the drive and compare it to the one calculated from the original .sw file that should be on the drive.
- if the checksum is not OK then, re-download it to the drive. This scenario also applies to a newly plugged in drive that does not have a valid setup yet. The master can identify a drive by its axis ID. Our drives have hardware axis IDs and even if it is "out of the box" it will be initialized with the Axis ID configured on the motherboard.

A "*.sw" file has multiple data sections. Each section has a start and end address and an individual checksum must be calculated for each one. To do this, read chapter "18.7 SW file Checksum calculation C# example code" in the attache manual (see the "attachments" section at the end of this article).

The checksum of each section must be queried on the drive and compared with the ones calculated in the "*.sw" file. To do this, read chapter "18.6 Checking and loading the drive setup via SW file using CANopen commands example.", in the attached manual.

To generate a "*.sw" file containing Setup data, please read chapter "18.2 Image Files Format and Creation".

A general guideline about how to download an "*.sw" file can be find in chapter "18.4 Downloading an image file ("*.sw") to the drive using CANopen objects example" at page 194.

A C# script example about how to write an "*.sw" file using a CAN interface can be found at chapter "Downloading an image file ("*.sw") to the drive using CANopen objects C# example code"

A general guideline about how to verify the checksum on the drive can be read at chapter "18.6 Checking and loading the drive setup via SW file using CANopen commands example"

A C# script example about how to obtain checksum information from a ".sw" file, can be found at chapter "18.7 SW file Checksum calculation C# example code".