Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 23)

4.2 Download SDO Protocol

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

Client to server:

0 1 8

7…5 4 3…1 0

css = 0

t n c seg-data (segment data)

Server to client:

0 1 8

7…5 4 3…0

scs = 1

t x reserved

where:

css Client command specifier

0: Download segment request

scs Server command specifier

1: Download segment response

seg-data Maximum seven bytes of segment data downloaded. Encoding depends

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

n Number of bytes in seg-data that do not contain segment data. Bytes

[8-n, 7] do not contain segment data. n = 0 if no segment size is indicated.

c Whether or not there are still more segments to be downloaded:

0: More segments to be downloaded

1: No more segments to be downloaded

t Toggle bit, which alternates for each subsequent segment to be

downloaded. First segment has toggle-bit set to 0. Toggle bit is equal for

request and response message.

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)

4-3

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Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 23