ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 115)

Chapter 15: Downloading Firmware
New firmware versions can be loaded via CAN communications by writing the new
firmware as S-records to object 0x2090. The S-records are written as string SDOs to object
0x2090.
After the firmware is downloaded, the drive continues to communicate using the
previous firmware. If the download fails, a retry is possible.
CANopen DS 301 Implementation Guide Downloading Firmware
MAN-CAN301IG (Ver. 2.1)
15-1