CAN-2024C user’s manual (Revision 1.10, Mar/02/2016) ------
20
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0
0
1
2
3
4
5
6
7
1
1 0 0 0 0 0 0 0 0 1
0
8
23 10 10 01 73 61 76 65
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0
0
1
2
3
4
5
6
7
1
1 0 0 0 0 0 0 0 0 1
0
8
60 10 10 01 -- -- -- --
3.4 Default PDO Mapping
RxPDO mapping list:
ID
Len
D 0
D 1
D 2
D 3
D 4
D 5
D 6
D 7
300h + x
8
AO_
C0_L
AO_
C0_H
AO_
C1_L
AO_
C1_H
AO_
C2_L
AO_
C2_H
AO_
C3_L
AO_
C3_H
Table 3-9
Default RxPDO list
Note: x is Node-ID of the module
Note: AO is Analogue Output
Note: C0, C1, C2 and C3 is channel 0, channel 1, channel 2 and channel 3.
Note: The
‘L’ indicates low byte and ‘H’ indicates high byte.
SDO server
(CAN-2024C)
SDO client
SDO server
(CAN-2024C)
SDO client