Technical Manual
WDGA with CANopen-Interface
8 - Setting-up the encoder
© Wachendorff Automation GmbH & Co. KG
52
Rev.1.24
ccs
client command
specifier
1 = initiate write (download) request
scs
server command
specifier
3 = initiate write (download) response
n
Indicates that bytes
[8-n,7] don’t contain
segmented data
Only valid if e=1 and s=1, otherwise 0.
e
Transfer type
0 = segmented transfer
1 = expedited transfer
s
size indicator
0 = data set size not indicated
1 = data set size indicated
m
multiplexor
index/sub index of data to be transferred
d
data
e=0, s=0 -> d is reserved.
e=0, s=1 -> d = number of bytes to be written.
e=1, s=1 -> d = data of length 4-n to be written.
e=1, s=0 -> d = unspecified number of bytes to be written.
X
not used
always 0
reserved
reserved for further use, always 0
Table 8.27: Declaration of used abbreviations in Figure 8.7
Then the first data segment is send:
600h+ID 8
00h
00000000b
ccs=0, t=0,
n=0, c=0
data
data
data
data
data
data
data
CAN-ID
DLC Command Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.28: send first segment
The encoder confirms and requests the next segment:
580h+ID 8
20h
00100000b
scs=1, t=0
data
data
data
data
data
data
data
CAN-ID
DLC Command Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.29: Acknowledgement send by the encoder
Содержание WDGA CANopen
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