CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------
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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
byte 4 contains the least significant bit, and byte 7
contains the most significant bit.
e
=1,
s
=1:
d
contains the data of length 4-
n
to be uploaded, the
encoding depends on the type of the data referenced
by index and sub-index.
e
=1,
s
=0:
d
contains unspecified number of bytes to be
uploaded.
x
: not used, always 0
reserved
: reserved for further use , always 0
