Read Service (Sdo Upload); Initiate Sdo Upload Protocol - ABB FCAN-01 User Manual

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Read Service (SDO Upload)

Initiate SDO Upload Protocol

This protocol is used to implement the Initiate SDO Upload
service.
Client
Request
Confirm
ccs Client command specifier; ccs = 2: Initiate upload request.
scs Server command specifier; scs = 2: Initiate upload response.
n Number of data bytes (in d) which do not contain data. Bytes [8-n, 7] do
not contain segment data. Valid only if e = 1 and s = 1 (otherwise n = 0).
e Transfer type; e = 0: Normal transfer. e = 1: Expedited transfer.
s Size indicator; s = 0: No data set size indication.
s = 1: Data set size indication.
m Multiplexor; Represents the index/subindex of the data to be transferred
by the SDO.
d Data; e = 0, s = 0: Reserved for further use.
e = 0, s = 1: Contains the number of bytes to be uploaded. Byte 4
contains the LSB and byte 7 contains the MSB.
e = 1, s = 1: Contains the data of length 4-n to be uploaded. The
encoding depends on the type of the data referenced by index and
subindex
e = 1, s = 0: Contains unspecified number of bytes to be uploaded.
x Not used. The value is always 0.
Reserved Reserved for further use. The value is always 0.
Communication
Initiate SDO Upload Protocol
0
7...5 4...0
ccs = 2 x
0
7...5 4 3...2
scs = 2 x n
1 4
m Reserved
1 4
1 0
m
e s
Server
8
Indication
8
Response
d