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Table7-5 Startup download
Bit
7
6
5
4
3
2
1
0
Client→
0
0
1
-
n
e
s
←Server
0
0
1
-
-
-
-
-
Table 7-6 Startup upload
Bit
7
6
5
4
3
2
1
0
Client→
0
0
1
-
-
-
-
-
←Server
0
0
1
-
n
e
s
Descripon:
n—— Indicates the number of bytes of meaningless data in the message data [from (8-n) bytes to 7th byte of
meaningless data] (n is valid when e=1 and s=1, otherwise n is 0.);
e—— When e=0, the transmission is normal, and when e=1, the transmission is accelerated;
s —— Indicates whether the data length is specied, 0 indicates the data length is not specied, and 1 indicates the
data length.
e=0, s=0——retained by the CiA;
e=0, s=1——The data byte is the byte counter, byte4 is the data low-bit part (LSB), and byte7 is the high-bit part of
the data (MSB) ;
e=1——The data bytes are the data that will be downloaded.
The format of sending and receiving SDO packets when reading parameters is shown in Tables 7-6 and 7-7.
Table 7-7 Sent SDO message when read parameters
Idener
DLC
Daten
0
1
2
3
4
5
6
7
0x600+Node_ID
8
Send command
word
Object
index
Object
subindex
00
Table 7-8 Receive SDO message when read parameters
Idener
DLC
Daten
0
1
2
3
4
5
6
7
0x580+Node_ID
8
Receive
command
Object
index
Object
subindex
Max 4 bytes
data
Note:
When SDO message are sent, commands are 0x40;