Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
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Chapter 6: CAN Bus Protocol
Figure 80
State machine segment transmission via CAN buffers
Step
0
Step
1
Step
2
Step
3
Step
4
Initialisation
Copy 0xFFFF in all Segments of both buffers
Goto Step 1
Step
5
Send Segment 0
Set Index of Tx Buffer to 0
(Path data (target) Box Byte 6)
Send Segment 0
(Path data (target)
Box Byte 4 and 5)
Increment Request Count of Segments
(Path data (target) Box Byte 7)
Goto Step 2
Wait until Mirrored Request Count of Segments of the Control unit (Path Data
Box Byte 7) is equal to Request Count of Segments of the Tx Buffer of the PLC
(Path data (target) Box Byte 7).
If equal go to Step 3
Increment Index of Tx Buffer
(Path data (target)
Box Byte 6)
Increment Request Count of Segments
(Path data (target)
Box Byte 7)
Send Segment with the index in the Segment table
(Path data (target)
Box Byte 4 and 5)
Go to Step 4
If Increment Index of Tx Buffer is 7 goto Step 5
Else goto Step 2
Copy PLC Tx Buffer into Tx Buffer
Go to Step 1
Increment Index
of Tx Buffer = 7?
