\nTransfering configuration and diagnostic data is the primary purpose of this protocoll.
\nBy using CAN-FD the telegrams can reach a length of up to 64 data byte.
\nDue to the longer telegrams and the higher data bit-rates up to 5 Mbit\/s, significant faster data transfer is being provided.
\nYou can find a short Demonstartion about the speed advantages of CANopen-FD over classic CANopen here<\/a>.
\nThe transmission can be done by using the expedited, segmented or bulk protocol.
\nData can be transmitted either in unicast or broadcast mode.
\nFor transfers between networks transfers a own remote service is also provided.<\/p>\n
USDO Unicast<\/h2>\n
As SDO did before, USDO allows the direct connection from one client to exactly one server.
\nFurthermore it can handle multiple sessions between the client and the server at the same time.
\nBesides that, multiple clients can access the object directory of the server simultaneously, access to the same object at the same time has to be rejected..
\nIn case of to many requests at once, the server can reject them by sending \u201eUSDO Server Busy\u201c.<\/p>\n
USDO Broadcast<\/h2>\n
Additionally USDO supports broadcast connections from one client to all available servers.
\nIf on of the servers rejects the connection, for example because it has too many active connections pending, it sends informs the client by use of an unicast aborts.<\/p>\n
USDO Remote Service<\/h2>\n
The remote service allows to send telegrams to other, not directly attached CAN networks, by using a transparent CANopen-FD router.
\nIn the first segment additional protocol data is being transmitted.
\nFor example source- and destination network as well as source- and destination node ID.<\/p>\n
USDO Expedited Protokoll Type<\/h2>\n![\"USDO](\"http:\/\/www.embedded-communication.com\/wp-content\/uploads\/2018\/02\/Expedited.png\")
USDO Expedited Transfer<\/figcaption><\/figure>\nThe expedited transfer is a confirmed transmission with a maximum of 56 Byte of data.
\nThe other 8 byte are used for protocol data like destination address, index or subindex.
\nFrame Example: Unicast Expedited Upload with 56 Byte of data:<\/p>\n
USDO Segmented Protocol Type<\/h2>\n![\"USDO](\"http:\/\/www.embedded-communication.com\/wp-content\/uploads\/2018\/02\/Segmented.png\")
USDO Segmented Transfer<\/figcaption><\/figure>\nThe segmented transfer is a confirmed transmission, with a maximum of about 4.29 Gigabyte of definable data length, or undefined length by streaming.
\nIf requested the segmented transfer has to be done, although expedited transfer would be more sufficient.
\nIn the first segment, protocol data like destination address, data type or data length are transmitted.
\nThe transmission of the application data begins with the second segment.
\nEvery segment is confirmed from the counterpart.
\nFrame Example: Unicast Segmented Upload with 64 Byte of data:<\/p>\n
USDO Bulk Protocol Type<\/h2>\n
As the equivalent to the block transfer in CANopen<\/a>, the bulk transfer in CANopen-FD<\/a> is a confirmed transmission, with a maximum of about 4.29 Gigabyte of definable data length, or undefined length by streaming.
\nAs with the segmented transfer, the first segment contains protocol data like destination address, session ID or the gap between two segments which is defined by the server.
\nStarting from the second segment, the transmission of the application data begins.
\nUnlike with segmented transfer in bulk transfer only the first and the last segment is being confirmed.<\/p>\n![\"USDO](\"http:\/\/www.embedded-communication.com\/wp-content\/uploads\/2018\/02\/Bulk.png\")
USDO Bulk Transfer<\/figcaption><\/figure>\nFrame Example: Unicast Bulk Download with 172 Byte of data:<\/p>\n
USDO Stream<\/h2>\n
Segmented and bulk transfer both support transmission of data with undefined data length as stream.
\nTherefore the data length of the transmission is set to value 0xFFFFFFFF.
\nThe transmission is kept alive as long as either the USDO client finishes it or the server is sending an abort.<\/p>","protected":false},"excerpt":{"rendered":"
The expedited transfer is a confirmed transmission with a maximum of 56 Byte of data.
\nThe other 8 byte are used for protocol data like destination address, index or subindex.
\nFrame Example: Unicast Expedited Upload with 56 Byte of data:<\/p>\n
USDO Segmented Protocol Type<\/h2>\nUSDO Segmented Transfer<\/figcaption><\/figure>\nThe segmented transfer is a confirmed transmission, with a maximum of about 4.29 Gigabyte of definable data length, or undefined length by streaming.
\nIf requested the segmented transfer has to be done, although expedited transfer would be more sufficient.
\nIn the first segment, protocol data like destination address, data type or data length are transmitted.
\nThe transmission of the application data begins with the second segment.
\nEvery segment is confirmed from the counterpart.
\nFrame Example: Unicast Segmented Upload with 64 Byte of data:<\/p>\n
USDO Bulk Protocol Type<\/h2>\n
As the equivalent to the block transfer in CANopen<\/a>, the bulk transfer in CANopen-FD<\/a> is a confirmed transmission, with a maximum of about 4.29 Gigabyte of definable data length, or undefined length by streaming.
\nAs with the segmented transfer, the first segment contains protocol data like destination address, session ID or the gap between two segments which is defined by the server.
\nStarting from the second segment, the transmission of the application data begins.
\nUnlike with segmented transfer in bulk transfer only the first and the last segment is being confirmed.<\/p>\nUSDO Bulk Transfer<\/figcaption><\/figure>\nFrame Example: Unicast Bulk Download with 172 Byte of data:<\/p>\n
USDO Stream<\/h2>\n
Segmented and bulk transfer both support transmission of data with undefined data length as stream.
\nTherefore the data length of the transmission is set to value 0xFFFFFFFF.
\nThe transmission is kept alive as long as either the USDO client finishes it or the server is sending an abort.<\/p>","protected":false},"excerpt":{"rendered":"
The segmented transfer is a confirmed transmission, with a maximum of about 4.29 Gigabyte of definable data length, or undefined length by streaming.
\nIf requested the segmented transfer has to be done, although expedited transfer would be more sufficient.
\nIn the first segment, protocol data like destination address, data type or data length are transmitted.
\nThe transmission of the application data begins with the second segment.
\nEvery segment is confirmed from the counterpart.
\nFrame Example: Unicast Segmented Upload with 64 Byte of data:<\/p>\n
USDO Bulk Protocol Type<\/h2>\n
As the equivalent to the block transfer in CANopen<\/a>, the bulk transfer in CANopen-FD<\/a> is a confirmed transmission, with a maximum of about 4.29 Gigabyte of definable data length, or undefined length by streaming. Frame Example: Unicast Bulk Download with 172 Byte of data:<\/p>\n Segmented and bulk transfer both support transmission of data with undefined data length as stream.
\nAs with the segmented transfer, the first segment contains protocol data like destination address, session ID or the gap between two segments which is defined by the server.
\nStarting from the second segment, the transmission of the application data begins.
\nUnlike with segmented transfer in bulk transfer only the first and the last segment is being confirmed.<\/p>\nUSDO Stream<\/h2>\n
\nTherefore the data length of the transmission is set to value 0xFFFFFFFF.
\nThe transmission is kept alive as long as either the USDO client finishes it or the server is sending an abort.<\/p>","protected":false},"excerpt":{"rendered":"