CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------
19
11-bit COB-ID (bit)
Func Code
Node ID
8-byte Data (byte)
10 9 8 7 6 5 4 3 2 1 0
RTR
Data
Length
0
1
2
3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1
0
4
60
02 60 01 -- -- -- --
SDO client
SDO server
(CAN-2054C)
Write object index 0x6002 with subindex 1 to 0xF0 means that set the Ch0 ~ Ch3
of DI channels to normal, and set the Ch4 ~ Ch7 to be inverted.
Digital Output module (0x6200)
User can set a group of 8 output lines as a byte of information and sent it
into the object index 0x6200 with subindex 1 of CAN-2054C
.
For example, if
the node id of CAN-2054C is 1, the commands are as below:
11-bit COB-ID (bit)
Func Code
Node ID
8-byte Data (byte)
10 9 8 7 6 5 4 3 2 1 0
RTR
Data
Length
0
1
2
3 4 5 6 7
1 1 0 0 0 0 0 0 0 0 1
0
8
2F 00 62 01 0F 00 00 00
SDO client
SDO server
(CAN-2054C)
11-bit COB-ID (bit)
Func Code
Node ID
8-byte Data (byte)
10 9 8 7 6 5 4 3 2 1 0
RTR
Data
Length
0
1
2
3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1
0
4
60
00 62 01 -- -- -- --
SDO client
SDO server
(CAN-2054C)
Write the 0x0F of digital output value into the object index 0x6200 with subindex
1, and its response success by CAN-2054C.
Change Output Polarity (0x6202)
This object 0x6202 with subindex 1 defines the polarity of a group of 8
output lines. Output polarity can be inverted individually.
1 = output inverted.
0 = output not inverted.
For example, if the node id of CAN-2054C is 1, the commands are as below:
