Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 25)

4.4 Upload SDO Segment Protocol

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

Client to server:

0 1 8

7…5 4 3…0

css = 3

t x reserved

Server to client:

0 1 8

7…5 4 3…1 0

scs = 0

t n c seg-data

where:

css Client command specifier

3: Upload segment request

scs Server command specifier

0: Upload segment response

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

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

response message.

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

0: More segments to be uploaded

1: No more segments to be uploaded

seg-data Maximum seven bytes of segment data uploaded. 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.

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)

4-5

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Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 25