WAGO -I/O-SYSTEM 750 Technical Description page 86

86 • CANopen
Network Communication
request
confirm
ccs:
scs:
n:
e:
s:
m:
d:
X:
reserved:
Client
0
.7 .6 .5
ccs = 1
Client
0
.7 .6 .5
scs = 3
client command specifier
server command specifier 3: initiate download response
only valid if e = 1
and s = 1, otherwise 0.
transfer type
size indicator
multiplexor
data
Initiate SDO Download
1 4
.4 .3 .2 .1 .0
x n e s m
Initiate SDO Download
1 4
.4 .3 .2 .1 .0
x x x e s m
1: initiate download request
If n is valid, it displays the number of bytes which
do not contain any data. Example:
3 data bytes, e = 1 and s = 1, n = 4 - 3 = 1
0: normal transfer, number of the bytes to be writ-
ten >= 5 byte
1: expedited transfer, number of the bytes to be
written < 5 byte
0: data set size is not displayed
1: data set size is displayed
s is always 1
Index and Sub-Index of object directory
Index, Low Byte : Byte #1
Index, High Byte: Byte #2
Sub-Index: Byte #3
e = 0, s = 0: d is reserved for further use of CiA
e = 0, s = 1: d contains the number of bytes for
download
Byte 4 contains the LSB and Byte 7 contains the
MSB.
e = 1: d contains the data
Not used, always 0
Reserved for further use of CiA
Server
8
indication
Data
Server
8
response
Data
WAGO-I/O-SYSTEM 750
CANopen