96INDEX 16-bit value, same as that sent by the masterSUBINDEX 8-bit value, same as that sent by the masterRES Reserved for future use9.2.2 Upload(From Slave to Host)Upload refers to that the master sends a command to read object address in the slave and the master willgenerate an error if a non-existent target address is uploaded.The master sends:CMDbyte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7INDEX SUBINDEX RESERVEDCMD Specifies the direction of data transfer40(0x16)INDEX 16-bit valueSUBINDEX 8-bit subindexRESERVED Bytes 4…7 not usedThe slave receives:RESbyte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7INDEX SUBINDEX DATARES Displays slave response:43(0x16) bytes 4...7 contain 32-bit data4B(0x16) bytes 4, 5 contain 16-bit data4F(0x16) byte 4 contains 8-bit data80(0x16) error, bytes 4…7 contain error causeINDEX 16-bit value, same as that sent by the masterSUBINDEX 8-bit value, same as that sent by the masterIf the data contains no error, byte 4…byte 7 save the object value read from the slave, with the lower-orderbits arranged before the higher-order bits. Correct value = byte7, byte6, byte5, byte4. If there is an error, datacontained in these four types is no longer object values read from the slave.For example:The master sends a ―upload‖ command to the slave:01 40 F0 2F 09 58 02 00 00 3D (This command reads target velocity 2FF00910 from the slave)The slave answers:01 4B F0 2F 09 58 02 00 00 32Indicates: 01—Slave index is 14B – Received data contains 2 bytes, saved to byte 4…byte 5 in the 10 bytes of the responsebyte4=58, byte5=02, byte6=00, byte7=00Then, DATA= byte7 byte6 byte5 byte4 = 0258(hex)= 600 rpm
