CANopen
• 87
Network Communication
WAGO-I/O-SYSTEM 750
CANopen
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.
Client
Client
Download SDO Segment
Download SDO Segment
Segment data
reserved
ccs = 0
scs = 1
t
t
x
n
c
request
confirm
indication
response
0
0
.0
.0
.7
.7
.6
.6
.5
.5
.4
.4
.3
.2
.3
.2
.1
.1
1
1
8
8
Server
Server
Fig. 4-5: Download SDO Segment
g012409x
ccs:
client command specifier
0: download segment request
scs:
server command specifier
1: download segment response
seg-data
Contains the data to be
transmitted.
The meaning of the data is determined by the
application.
n:
Displays the number of bytes not containing any
data. n is 0 if no segment size is displayed.
c:
Indicates whether or not a
download is necessary for
further data.
0: There is more data to be downloaded.
1: There is no more data to be downloaded.
t:
Toggle Bit
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.
X:
Not used, always 0
reserved:
Reserved for further use of CiA
