ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 25)

4.4 Upload SDO Segment Protocol
This protocol is used to implement the Upload SDO Segment service.
Client to server:
0
1 8
7…5 4 3…0
css = 3 t x reserved
Server to client:
0
1 8
7…5 4 3…1 0
scs = 0 t n c seg-data
where:
css
Client command specifier
3: Upload segment request
scs Server command specifier
0: Upload segment response
t Toggle bit, which alternates for each subsequent segment to be uploaded.
First segment has toggle-bit set to 0. Toggle bit is equal for request and
response message.
c Whether or not there are still more segments to be uploaded:
0: More segments to be uploaded
1: No more segments to be uploaded
seg-data Maximum seven bytes of segment data uploaded. Encoding depends on
type of data referenced by index and sub-index.
n 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 future use; always 0.
CANopen DS 301 Implementation Guide Service Data Objects (SDOs)
MAN-CAN301IG (Ver. 2.1)
4-5