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CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------
124
Step 30. The feedback DI values are out-of-date. (Users can see the LEDs
status on the I-8053 to confirm the practical DI values).
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 producer
(CAN-8123/CAN-8223/
CAN-8423)
COB-ID
: 0x181
L
: 2
PDO-msg
: 34 12 00 00 00 00 00 00
Step 31. Transmit a SYNC 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 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
Step 32. Users can send the RTR message of the first TxPDO 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 1 1 0 0 0 0 0 0 1
1
0
00 00 00
00
00 00 00
00
PDO
consumer
PDO producer
(CAN-8123/CAN-8223/
CAN-8423)
COB-ID
: 0x181