Stober CANopen SD6 Handbuch Seite 52

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Upload SDO Segment Protocol
Byte
Bit
7...5
ccs=3
Master
Byte
Bit
7...5
scs=0
ccs Client command specifier
scs Server command specifier
n Number of byte
seg-data Segment data
c Continue
t Toggle Bit
x Unused
Beispiele
Segment Download mit 16 Byte Daten; Inhalt: 01, 02, 03 ... 10 hex
Client: IDDReq:
Server: IDDRes:
Client: DSegReq:
Server: DSegRes:
Client: DSegReq:
Server: DSegRes:
Client: DSegReq:
Server: DSegRes:
Segment Upload mit 16 Byte Daten, Inhalt: 01, 02, 03 .. 10 hex
Client: IDUReq:
Server: IDURes:
Client: USegReq:
Server: USegRes:
Client: USegReq:
Server: USegRes:
Client: USegReq:
Server: USegRes:
52
0 1...7
4 3...0 reserved
t x
0 1...7
4 3...1 0
t n c
21 idx x
60 idx x
00 01 02 03 04 05 06 07
20 00 00 00 00 00 00 00
10 08 09 0A 0B 0C 0D 0E
30 00 00 00 00 00 00 00
0b 0F 10 00 00 00 00 00
20 00 00 00 00 00 00 00
40 idx x
41 idx x
60 00 00 00 00 00 00 00
00 01 02 03 04 05 06 07
70 00 00 00 00 00 00 00
10 08 09 0A 0B 0C 0D 0E
60 00 00 00 00 00 00 00
0b 0F 10 00 00 00 00 00
Slave
3 = Upload segment request
0 = Upload segment response
Anzahl der Byte in "Segment data", die keine Nutzdaten
enthalten.
n = 0: Keine Angabe zu ungenutzten Daten
7 Byte Nutzdaten
§ 0 = Weitere Segmente folgen
§
1 = Letztes Segment
t = 0 bei Segment 1; muss bei jedem Segment wechseln.
Identische Werte bei Request und Response.
x = 0
10 00 00 00 (ccs = 1, e = 0 = normal, s = 1 -> data = no of bytes)
00 00 00 00
(ccs = 0, t = 0, n = 0, c = 0 -> all data bytes are used)
(ccs = 0, t = 1, n = 0, c = 0 -> all data bytes are used)
(ccs = 0, t = 0, n = 5, c = 1 -> 5 data bytes are unused)
00 00 00 00 (ccs = 2, rest = 0)
10 00 00 00 (scs = 2, x = 0, e = 0, s = 1 -> data contains no of bytes
to be uploaded)
(ccs = 3, t = 0)
(scs = 0, t = 0, n = 0, c = 0 -> all data bytes are used)
(ccs = 3, t = 1)
(scs = 0, t = 1, n = 0, c = 0 -> all data bytes are used)
(ccs = 3, t = 0)
(scs = 0, t = 0, n = 5, c = 1 -> 5 data bytes are unused)
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