PM
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3133i User
’s Manual v1.02
Last Revised: Apr. 2023 Page: 42
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ccs
: client command specified
3: upload segment request
scs
: server command specified
0: upload segment response
t
: toggle bit.
This bit must alternate for each subsequence segment that is uploaded. The first
segment will have the toggle bit set to 0. The toggle bit will be equal for the
request and response message.
c
: indicates whether where are still more segments to be uploaded
0: more segments to be uploaded.
1: no more segment to be uploaded.
seg-data
: It is at most 7 bytes of segment data to be uploaded.
The encoding depends on the type of the data referenced by index and sub-index.
n
: It indicates the number of bytes in
seg-data
that do not contain segment data.
Bytes [8-
n
, 7] do not contain segment data.
n
= 0 if no segment size is indicated.
x
: not used, always 0
reserved
: reserved for further use , always 0
8.2.1.2 Download SDO Protocol
Initiate SDO Download Protocol
The download modes are similar to the upload modes, but different in some parameters
of the SDO messages. They are also separated into two steps. If the download data
length is less than 4 bytes, the download action will finish in the download initialization
protocol. Otherwise, the download segment protocol will be needed. These two
protocols are shown below.
