Stober CANopen SD6 Manuel D'utilisation page 43

STÖBER
Upload SDO Segment Protocol
0
Octet
Bit
7...5 4
ccs=3 t
Maître
0
Octet
Bit
7...5 4
scs=0 t
ccs Client command specifier
scs Server command specifier
n Number of byte
seg-data Segment data
c Continue
t Toggle Bit
x Unused
Exemples
Segment Download avec données 16 octets ; contenu : 01, 02, 03 ... 10 hex
Client: IDDReq:
Server: IDDRes:
Client: DSegReq:
Server: DSegRes:
Client: DSegReq:
Server: DSegRes:
Client: DSegReq:
Server: DSegRes:
Segment Upload avec données 16 octets, contenu : 01, 02, 03 .. 10 hex
Client: IDUReq:
Server: IDURes:
Client: USegReq:
Server: USegRes:
Client: USegReq:
Server: USegRes:
Client: USegReq:
Server: USegRes:
1...7
3...0 reserved
x
Esclav
1...7
3...1 0
n c
21 idx x 10 00 00 00
60 idx x 00 00 00 00
00 01 02 03 04 05 06 07
20 00 00 00 00 00 00 00
10 08 09 0A 0B 0C 0D 0E
30 00 00 00 00 00 00 00
0b 0F 10 00 00 00 00 00
20 00 00 00 00 00 00 00
40 idx x 00 00 00 00
41 idx x 10 00 00 00
60 00 00 00 00 00 00 00
00 01 02 03 04 05 06 07
70 00 00 00 00 00 00 00
10 08 09 0A 0B 0C 0D 0E
60 00 00 00 00 00 00 00
0b 0F 10 00 00 00 00 00
e
3 = Upload segment request
0 = Upload segment response
Nombre d'octets dans « Segment data » ne contenant aucune
donnée utile.
n = 0 : aucune indication concernant les données non utilisées
Données utiles 7 octets
§
0 = d'autres segments suivent
§ 1 = dernier segment
t = 0 pour le segment 1 ; doit changer avec chaque segment.
Valeurs identiques pour Request et Response.
x = 0
(ccs = 1, e = 0 = normal, s = 1 -> data = no of bytes)
(ccs = 0, t = 0, n = 0, c = 0 -> all data bytes are used)
(ccs = 0, t = 1, n = 0, c = 0 -> all data bytes are used)
(ccs = 0, t = 0, n = 5, c = 1 -> 5 data bytes are unused)
(ccs = 2, rest = 0)
(scs = 2, x = 0, e = 0, s = 1 -> data contains no of bytes
to be uploaded)
(ccs = 3, t = 0)
(scs = 0, t = 0, n = 0, c = 0 -> all data bytes are used)
(ccs = 3, t = 1)
(scs = 0, t = 1, n = 0, c = 0 -> all data bytes are used)
(ccs = 3, t = 0)
(scs = 0, t = 0, n = 5, c = 1 -> 5 data bytes are unused)
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