Writing Segmented Transfer - BONFIGLIOLI Vectron Active Cube User Manual

The following sequence of telegrams results:
Initiate SDO Upload
Request Client 
Server
Response
Server 
Client
Segment Upload, first and odd segments
Request
Client 
Server
Response Server 
Client
Segment Upload, second and even segments
Request
Client 
Server
Response Server 
Client
Segment Upload, last segment
Request Client 
Server
Response Server 
Client

11.3.4.2 Writing Segmented Transfer

The first telegram to write is executed via Command Specifier 0x21. The amount of
entered data bytes in the data area defines the amount of data bytes to be transmit-
ted in the following segment transfers. The following segments are controlled via
Command Specifier 0x00 and 0x10 in toggling order until all data were transmitted.
The last segment contains in the Command specifier (Bit 1...3) the amount of not
used data bytes in the last telegram.
The resulting request and response telegrams are shown in the following sequence.
An example is described in chapter 12.3.1.4.
04/13
COB-ID 0 1
0x600 + cs Index
Node-ID
0x40 LSB
0x580 + cs Index
Node-ID 0x41
LSB
COB-ID 0 1
0x600 + cs
Node-ID 0x60
00
0x580 + cs
Node-ID
0x00 LSB
COB-ID 0 1
0x600 + cs
Node-ID
0x70 00
0x580 + cs
Node-ID
0x10
LSB
COB-ID 0 1
0x600 + cs
Node-ID
0x60
00
oder
0x70
0x580 + cs
Node-ID
0xnn
LSB
CM-CAN ACU
2 3 4
Subidx
MSB 00
Subidx
MSB LSB
2 3 4
Daten
00 00 00
Daten
... ... ...
2 3 4
Daten
00 00 00
Daten
... ... ...
2 3 4
Daten
00 00 00
Daten
... ... ...
5 6 7
Daten
00 00 00
Daten
... ... MSB
5 6 7
00 00 00
... ... MSB
5 6 7
00 00 00
... ... MSB
5 6 7
00 00 00
... ... MSB
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