CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------
108
Step 2. Because of the change of the DI-channel status, the TxPDO is
transmitted automatically when the transmission type is 255, based on the
CANopen spec 401. Then, users will receive the 1st TxPDO message.
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
0 0 1 1 0 0 0 0 0 0 1
0
2
34 12 00
00
00 00 00
00
PDO
consumer
PDO consumer
(CAN-8123/CAN-8223/
CAN-8423)
COB-ID
: 0x181
L
: 2
PDO-msg
: 34 12 00 00 00 00 00 00
Because the data length is 2, only the first two bytes are valid. The
DI value will be 1 if the DI is OFF, according to the character of the
I-8053 DI channels. Therefore, the first byte indicates that the DI2,
DI4, and DI5 of the I-8053 are in ON state. The second byte shows
that the DI9 and DI12 of the I-8053 are in ON state.