PM
-
3133 User
’s Manual v1.09
Last Revised: Jun. 2021 Page: 39
Copyright © ICP DAS Co., Ltd. All Rights Reserved.
E-mail: service@icpdas.com
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
Upload SDO Segment Protocol
When the upload data length is over 4 bytes, the upload SDO segment protocol will be
needed. After finishing the transmission of the initiate SDO upload protocol, the SDO
client will start to upload the data. The upload SDO segment protocol will comply with
the process shown below.
