Wachendorff WDGA 58V handleiding
Handleiding
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Technical Manual
WDGA with CANopen Interface
8 - Setting-up the encoder
© Wachendorff Automation GmbH & Co. KG
53
Write SDO segment:
Figure 8.8: write SDO segment
ccs
client command specifier
0 = write (download) segment request
scs
server command specifier
0 = write (download) segment response
t
toggle bit
Must alternate for each subsequent segment with
t=0 for the first segment. Equal for each pair of
request and response.
c
more segments indicator
0 = more segments to be written (downloaded).
1 = no more segments to be written (downloaded).
seg-
data
Segment data
At most 7 byte of segment data.
n
Number of bytes that don’t
contain segment data
Bytes [8-n;7] don’t contain segment
n = 0 if no segment size indicated
x
not used
always 0
reserved
reserved for further use, always 0
Table 8.30: Declaration of used abbreviations in Figure 8.8
Now the next data segment can be send:
600h+ID
8
1Dh
00011101b
ccs=0, t=1,
n=6, c=1
data
x
x
x
x
x
x
CAN-ID
DLC
Command
Object
L
Object
H
Sub-
Index
Byte0
Byte1
Byte2
Byte3
Table 8.31: send next segment
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Productinformatie
| Merk | Wachendorff |
| Model | WDGA 58V |
| Categorie | Niet gecategoriseerd |
| Taal | Nederlands |
| Grootte | 11685 MB |
