CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------
86
ccs
: client command specified
1: initiate download request
scs
: server command specified
3: initiate download 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 download protocol is needed.
If
e
=0, the download SDO 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.
d
: data
e
=0,
s
=0:
d
Is reserved for further use.
e
=0,
s
=1:
d
contains the number of bytes to be downloaded, 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 downloaded, 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
downloaded.
x
: not used, always 0
reserved
: reserved for further use , always 0
