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CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------
127
Step 36. According to the transmission type 253, only the first TxPDO can be
transmitted when receiving the RTR message. So, users can send the RTR
message to get DI values. Then, the CAN-8423 will reply with the I-8053 digital
input status.
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
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
Step 37. Set the transmission type of the 1st TxPDO to 255 to finish the test.
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
1 1 0 0 0 0 0 0 0 0 1
0
8
2F
00 18
02 FF 00
00 00
SDO client
SDO server
(CAN-8123/CAN-8223/
CAN-8423)
ccs
: 1
n
: 3
e
: 1
s
: 1
m
: 00 18 02
d
: FF 00 00 00