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dankamongmen / canscan

CAN and CANopen active scanner
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Scan for quiet CANopen nodes using SDO discovery #4

Open dankamongmen opened 5 years ago

dankamongmen commented 5 years ago

CANopen nodes might not be actively transmitting (especially in e.g. a master-slave setup, as seen in the Curtis 123x series of motor controllers). We can semi-reliably scan for nodes supporting SDO using SDO RX for basic elements (it is possible that another node responds on behalf of the directed node). Scanning via NMT can disrupt the network, so don't do that for now.

dankamongmen commented 5 years ago

I think we'd want to start with 1018[01]:

Sub-Index: 001
Description: Vendor Id
Data Type: Unsigned32
Access: Read Only
PDO Mapping: No
Default Value: 0x02e1
Lower Limit: 0x0
Upper Limit: 0xFFFFFFFF