WAGO -I/O-SYSTEM 750 Technical Description page 87

4.3.1.2.1.2.2 Download SDO Segment
This protocol is used to transmit more than 4 data, i. e. this follows after fully
processing the „Initiate SDO Download Protocol" which initiates the data
transmissions.
request
confirm
Fig. 4-5: Download SDO Segment
ccs:
scs:
seg-data
n:
c:
t:
X:
reserved:
WAGO-I/O-SYSTEM 750
CANopen
Client
0
.7 .6
ccs = 0
Client
0
.7 .6
scs = 1
client command specifier
server command specifier
Contains the data to be
transmitted.
Indicates whether or not a
download is necessary for
further data.
Toggle Bit
Download SDO Segment
1
.5 .4 .3 .2 .1 .0
t n c
Download SDO Segment
1
.5 .4 .3 .2 .1 .0
t x
0: download segment request
1: download segment response
The meaning of the data is determined by the
application.
Displays the number of bytes not containing any
data. n is 0 if no segment size is displayed.
0: There is more data to be downloaded.
1: There is no more data to be downloaded.
This bit must be able to toggle for each segment
for which a download is made. The first segment
zeroes the toggle bit. The toggle bit is identical
both for the enquiry and the reply message.
Not used, always 0
Reserved for further use of CiA
CANopen
Network Communication
Server
8
Segment data
Server
8
reserved
• 87
indication
response
g012409x