0x5EDE - Boot mode
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x5EDE | 0x00 | Boot mode | UINT32 | WO | No | No | Data type | - | - |
Description
This register controls the device for bootloader purposes and has two main functions:
- Allows entering into boot mode.
- Sends the flash program command.
1. BOOT mode command
To prevent unauthorized access, this register is protected with a password:
MSB | LSB | |||
|---|---|---|---|---|
| ASCII | B | O | O | T |
| HEX | 0x42 | 0x4F | 0x4F | 0x54 |
Only after receiving this 0x424F4F54 password, the drive enters in bootloader mode.
2. Flash Program command
Description
Once the device is in boot mode, a password is required to notify the system the new program to flash:
MSB | LSB | ||
|---|---|---|---|
0x70 | 0x63 | 0x66 | 0x75 |
Only after receiving this 0x70636675 password, the drive will start flashing data received via SDO messages.
Principle of operation
EtherCAT
FoE (File over Ethercat) is an EtherCAT protocol which has specifically designed for performing firmware updates on a device. For more details, please refer to official documentation: EtherCAT Technology Group | EtherCAT.
This register password enables the triggering of the FoE update. Please refer to the FoE (File over EtherCAT) Bootloader - Summit Series procedure on Novanta Motion’s documentation to update the firmware using the FoE protocol.
CANopen
Since CANopen does not have a way to send a file transfer method like EtherCAT's FoE protocol, Novanta designed a similar procedure to send the program through CANopen protocol. This procedure can be followed in the CANopen bootloader CAP/EVS/DEN - Summit Series, for Capitan, Everest S or Denali devices, or in the CANopen bootloader Everest - Summit Series, for Everest devices.