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CANopen • 131 |
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Network Communication |
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d: |
data |
e = 0, s = 0: d is reserved for further use of CiA |
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e = 0, s = 1: d contains the number of bytes for |
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download |
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Byte 4 contains the LSB and Byte 7 contains the |
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MSB. |
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e = 1: d contains the data |
X: |
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Not used, always 0 |
reserved: |
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Reserved for further use of CiA |
5.3.1.2.1.3.2Upload SDO Segment
This protocol is used if more than 4 data is transmitted, i.e. this follows after fully processing the „Initiate Upload Protocol" which initiates the data transmissions.
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Upload SDO Segment |
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request |
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indication |
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.7 .6 .5 |
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ccs = 3 |
t |
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Upload SDO Segment |
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confirm |
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response |
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.7 .6 .5 |
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scs = 0 |
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c |
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Segment data |
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Fig. 5-11: Upload SDO Segment |
g012411x |
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ccs: |
Client command specifier |
3: download segment request |
scs: |
Server command specifier |
0: download segment response |
t: |
Toggle bit |
This bit has to change for each segment for |
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which an upload is made. The toggle bit has to |
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be zeroed for the first segment. The toggle bit is |
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identical both for the enquiry and the reply. |
c: |
Indicates whether further |
0: there are more segments to be uploaded |
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segments are present for the |
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upload |
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1:there are no more segments for uploading
WAGO-I/O-SYSTEM 750
CANopen
