CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------
154
Error Control Protocol Example
The default EMCY function code and the node ID 1 for the CAN-8423 are
used as an example on the error control protocol. The steps will be as follows.
Step 1. Turn off the CAN-8423. Then, turn it on. The CAN-8423 will be in the
pre_operational state.
Step 2. Users can set the guard time value to 250. This value will be stored in
index 0x100C with sub-index 00.
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
2B 0C 10
00
FA 00 00
00
SDO client
SDO server
(CAN-8123/CAN-8223/
CAN-8423)
ccs
: 1
n
: 2
e
: 1
s
: 1
m
: 0C 10 00
d
: FA 00 00 00
Step 3. The CAN-8423 will reply with the ending 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
1 0 1 1 0 0 0 0 0 0 1
0
8
60 0C 10
00
00 00 00
00
SDO client
SDO server
(CAN-8123/CAN-8223/
CAN-8423)
scs
: 3
m
: 0C 10 00