BONFIGLIOLI Vectron Active Cube User Manual page 36

The Command Specifier have the following setup:
Initiate Download Command Specifier:
Request:
Bit
Response:
Bit
Download SDO Segment Command Specifier:
Request:
Bit
Response:
Bit
Abbreviation Description
ccs
scs
n
e
s
t
c
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
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7 6 5
ccs
7 6 5
scs
7 6 5
ccs
7 6 5
scs
Client command Specifier
Server command Specifier
Only valid if e =1 AND s = 1,
in all other cases n = 0.
Transfer type
Size indicator
Toggle bit, toggled with each
Segment change
Continue bit, marks following
segments
COB-ID 0
0x600 + cs
Node-ID
0x21 LSB
0x580 + cs
Node-ID
0x41
LSB
COB-ID 0
0x600 + cs
Node-ID
0x00 00
0x580 + cs
Node-ID
0x20
00
COB-ID 0
0x600 + cs
Node-ID
0x10 00
0x580 + cs
Node-ID 0x30
00
CM-CAN ACU
4 3 2
0 n
4 3 2
0
4 3 2
t n
4 3 2
t 0 0
Values
1 = Initiate download request
0 = Download sequence request
3 = Initiate download request
1 = Download sequence response
If valid: Amount of data bytes, that con-
tain no useful data
0 = Normal Transfer
1 = Expedited Transfer (see
chapter 11.3.2)
0 = Data frame size is displayed
1 = Data frame size is not displayed
0 = First and odd segments
1 = Second and even segments
0 = Further segments follow.
1 = This was the last segment.
1 2 3
Index Subidx
MSB LSB
Index Subidx
MSB 00
1 2 3
Daten
00 00 00
Daten
00 00 00
1 2 3
Daten
00 00 00
Daten
00 00 00
1 0
e s
1 0
1 0
c
1 0
0 0
4 5 6
Daten
... ... MSB
Daten
00 00 00
4 5 6
00 00 00
00 00 00
4 5 6
00 00 00
00 00 00
04/13
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