JVL MIS23 Series User Manual

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 251
10.7 More details of CANopen Theory
Upload SDO protocol:
The upload SDO protocol is used to read the values in the object directory of the drive.
Table for upload and download SDO protocol.
CCS:Client command specified.
SCS: Server commander specified.
CCS: SCS: n: e: s: m:
Down-
load
1: Initiate
down-
load
request
3: Initiate
download
response
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
data
Transfer
type: 0=
normal
transfer
1=
expedited
transfer
Size indica-
tor: 0=data
set size is
not indicat-
ed 1=data
set size is
indicated
Multiplexer.
It repre-
sents the
index/sub-
index of the
data to be
transfer by
the SDO
Upload
2: Initiate
upload
request
2: Initiate
upload
response
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
data
Transfer
type: 0=
normal
transfer
1=
expedited
transfer
Size indica-
tor: 0=data
set size is
not indicat-
ed 1=data
set size is
indicated
Multiplexer.
It repre-
sents the
index/sub-
index of the
data to be
transfer by
the SDO
m
m
8
4
7...5
CCS=1
Response
Confirm
Server
4
X
3...2
n
1
e
0
s
d
1
4
8
7...5
SCS=3
4...0
X
reserved
0
0
1
8
TT1088GB
Request
Indication
Client
m
8
4
7...5
SCS=2
4
X
3...2
n
1
e
0
s
d
m
7...5
CCS=2
4...0
X
reserved
1
1
Response
Confirm
Server
4
8
0
0
8
TT1088GB
Request
Indication
Client

JVL MIS23 Series Specifications

General

Brand	JVL
Model	MIS23 Series
Category	Engine
Language	English