ICP DAS USA CAN-8123, User Manual, Page: 103 / 195

CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------ 103
Write PDO Protocol
PDO Producer
PDO Consumers
request
8-byte Data (byte) Len
L 0
RTR 11-bit COB-ID (bit)
10~0
COB-ID
0~7
Indication
indication
indication
PDO-msg
COB-ID
: the default PDO COB-ID, or the PDO COB-ID can be defined by
user
L
: the data length about how many bytes the PDO message has
PDO-msg
: the real-time data or the data which can be mapped into the
PDO mapping objects
Read PDO Protocol
PDO Consumer PDO Producer
request
8-byte Data (byte) Len
L 0
RTR 11-bit COB-ID (bit)
10~0
COB-ID
0~7
Indication
PDO-msg
request
request
Remote Transmit Request
8-byte Data (byte) Len
0 1
RTR 11-bit COB-ID (bit)
10~0
COB-ID
0~7
reserved
COB-ID
: the default PDO COB-ID, or the PDO COB-ID defined by users
L
: the data length about how many bytes the PDO message has
PDO-msg
: the real-time data or the data which can be mapped into the
PDO mapping objects