JVL MAC050 User Manual page 230

5.6 Expansion Mod. MAC00-FC2/FC4/FC41
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:
SCS:
226
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
Client command specified.
Server commander specified.
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
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
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 repren-
sents the
index/sub-
index of the
data to be
transfer by
the SDO
Multiplexer.
It repren-
sents the
index/sub-
index of the
data to be
transfer by
the SDO