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ccs
:
client command specified
2: initiate upload request
scs
:
server command specified
2: initiate upload response
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 segment data.
e
:
transfer type
0: normal transfer
1: expedited transfer
If the e=1, it means that the data of the object are equal or less
than 4 bytes, and only initiate SDO upload protocol is needed. If
e=0, the upload SDO segment protocol is necessary.
s
:
size indicator
0: Data set size is not indicated.
1: Data set size is indicated.
m
:
multiplexer
It represents the index/sub-index of the data to be transfer by
the SDO. The first two bytes are the index value and the last
byte is the sub-index value.
d
:
data
e=0, s=0: d is reserved for further use.
e=0, s=1: d contains the number of bytes to be uploaded, and
e=1, s=1: d contains the data of length 4-n to be uploaded, the
e=1, s=0: d contains unspecified number of bytes to be
x
:
not used, always 0
reserved :
reserved for further use , always 0
CAN-8x23 user's manual (Revision 3.20, Mar/08/2012) ------
byte 4 contains the least significant bit, and byte 7
contains the most significant bit.
encoding depends on the type of the data referenced
by index and sub-index.
uploaded.
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