Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 24)

4.3 Initiate SDO Upload Protocol

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

Client to server:

0 1 4 8

7…5 4…0

css = 2

x m reserved

Server to client:

0 1 4 8

7…5 4 3…2 1 0

scs = 2

x n e s m reserved

where:

css Client command specifier

2: Initiate upload request

scs Server command specifier

2: Initiate upload 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 segment

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 the number of bytes to be uploaded.

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 uploaded.

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)

4-4

1 2 ... 19 20 21 22 23 24 25 26 27 28 29 ... 117 118

Pas de commentaire

Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 24