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CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------
119
Step 21. Users can send the SYNC message again.
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)
SYNC
COB-ID
: 0x80
Step 22. Nothing happened because the DI values were not changed. This is
the main difference between transmission type 0 and 1. (Under the
transmission type 1, the TxPDO is always transmitted no matter whether the
DI values are changed or not, when the CAN-8423 receives the SYNC object.)