Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 22)

4.1 Initiate SDO Download Protocol

This protocol is used to implement the Initiate SDO Download service.

Client to server:

0 1 4 8

7…5 4 3…2 1 0

css = 1

x n e s m d (data)

Server to client:

0 1 4 8

7…5 4…0

scs = 3

x m reserved

where:

css Client command specifier

1: Initiate download request

scs Server command specifier

3: Initiate download response

n Number of bytes in d that do not contain data. Only valid if

e = 1 and s = 1; otherwise it is 0. Bytes [8-n, 7] do not contain data.

e Transfer type

0: Normal transfer

1: Expedited transfer

s Size indicator

0: Data set size is not indicated

1: Data set size is indicated

m Multiplexor. Represents index/sub-index of data to be transferred by

SDO.

d Data

e = 0, s = 0: d is reserved for future use.

e = 0, s = 1: d contains number of bytes to be downloaded.

Byte 4 contains LSB and byte 7 contains MSB.

e = 1, s = 1: d contains data of length 4-n to be downloaded. The encoding

depends on the type of data referenced by index and sub-index.

e = 1, s = 0: d contains an unspecified number of bytes to be downloaded.

x Not used; always 0.

reserved Reserved for future use; always 0.

CANopen DS 301 Implementation Guide Service Data Objects (SDOs)

MAN-CAN301IG (Ver. 2.1)

4-2

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Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 22