CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------
112
Step 8. After changing the value of the event timer, the AI value will be
automatically transmitted per second. The example below shows that at the
first time the 2n TxPDO message is received.
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 1 0 1 0 0 0 0 0 0 1
0
8
00 40 FD
FF
FF FF FF
FF
PDO
consumer
PDO producer
(CAN-8123/CAN-8223/
CAN-8423)
COB-ID
: 0x281
L
: 8
PDO-msg
: 00 40 FD FF FF FF FF FF
Step 9. The following example shows that at the second time the 2nd TxPDO
message is received.
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 1 0 1 0 0 0 0 0 0 1
0
8
06 40 FF
FF
FF FF FF
FF
PDO
consumer
PDO producer
(CAN-8123/CAN-8223/
CAN-8423)
COB-ID
: 0x281
L
: 8
PDO-msg
: 06 40 FF FF FF FF FF FF
The value of 0x4006 is equal to 5.002V. The AI value is changed
because of the noise disturbance or other factors.