CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------
115
Step 14. The DO value isn’t changed immediately according to the character of
the transmission type 0. Meanwhile, the SYNC message is needed to trigger
the action of the 1st RxPDO.
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 0 1 0 0 0 0 0 0 0
0
0
00 00 00
00
00 00 00
00
SYNC
producer
SYNC consumer
(CAN-8123/CAN-8223/
CAN-8423)
COB-ID
: 0x80
The message of the SYNC object is always fixed as the format
described above. The COB-ID of the SYNC object can be changed
arbitrarily. It complies with the producer/consumer relationship.
Step 15. After transmitting the SYNC object, the 1st RxPDO is triggered. The
DI value is also changed at the same time. Hence, users can receive the 1st
TxPDO from CAN-8423.
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
78 56 00
00
00 00 00
00
PDO
consumer
PDO producer
(CAN-8123/CAN-8223/
CAN-8423)
COB-ID
: 0x181
L
: 2
PDO-msg
: 78 56 00 00 00 00 00 00