Balluff BDG F NH Serie Konfigurationsanleitung Seite 113

The encoder confirms the segmented SDO transfer and requests the first segment:
60h
580h+ID 8 01100000b
scs=3
CAN-ID DLC Command
Initializing segmented write access:
ccs client command specifier
scs server command
specifier
n Indicates that bytes
[8-n,7] don't contain
segmented data
e Transfer type
s size indicator
m multiplexor
d data
X not used
reserved
Table 8.27: Declaration of used abbreviations in Fehler! Verweisquelle konnte nicht gefunden werden.
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09h 06h
Object L Object H
Table 8.26: Acknowledgement of write access of object 6009h
Figure 8.7: Initiate SDO write
1 = initiate write (download) request
3 = initiate write (download) response
Only valid if e=1 and s=1, otherwise 0.
0 = segmented transfer
1 = expedited transfer
0 = data set size not indicated
1 = data set size indicated
index/sub index of data to be transferred
e=0, s=0 -> d is reserved.
e=0, s=1 -> d = number of bytes to be written.
e=1, s=1 -> d = data of length 4-n to be written.
e=1, s=0 -> d = unspecified number of bytes to be written.
always 0
reserved for further use, always 0
00h 00h 00h
Sub- Byte0 Byte1
Index
00h 00h
Byte2 Byte3
46