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11.7
More details of CANopen Theory
Upload SDO protocol:
The upload SDO protocol is used to read the values in the object directory of the drive.
Table for upload and download SDO protocol.
Down-
load
Upload
CCS:Client command specified.
SCS: Server commander specified.
302
JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Client
0
7...5
Request
CCS=1
0
Confirm
SCS=3
TT1088GB
Client
0
Request
CCS=2
0
7...5
Confirm
SCS=2
TT1088GB
CCS:
SCS:
1: Initiate
3: Initiate
down-
download
load
response
request
2: Initiate
2: Initiate
upload
upload
request
response
1
4
3...2
1
0
X
n
e
s
1
7...5
4...0
X
1
7...5
4...0
X
1
4
3...2
1
0
X
n
e
s
n:
Only valid if e=1 and s=1
otherwise 0. If valid it
indicates the number of
bytes in d that do not
contain data. Bytes
[8-n,7] do not contain
data
Only valid if e=1 and s=1
otherwise 0. If valid it
indicates the number of
bytes in d that do not
contain data. Bytes
[8-n,7] do not contain
data
Server
4
8
8
d
m
Indication
8
4
m
reserved
Response
Server
4
8
8
m
reserved
Indication
8
4
m
d
Response
e:
s:
Transfer
Size indica-
type: 0=
tor: 0=data
normal
set size is
transfer
not indicat-
1=
ed 1=data
expedited
set size is
transfer
indicated
Transfer
Size indica-
type: 0=
tor: 0=data
normal
set size is
transfer
not indicat-
1=
ed 1=data
expedited
set size is
transfer
indicated
m:
Multiplexer.
It repre-
sents the
index/sub-
index of the
data to be
transfer by
the SDO
Multiplexer.
It repre-
sents the
index/sub-
index of the
data to be
transfer by
the SDO
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