PM
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3133i User
’s Manual v1.02
Last Revised: Apr. 2023 Page: 43
Copyright © ICP DAS Co., Ltd. All Rights Reserved.
E-mail: [email protected]
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 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 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.
