CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------
68
z
Example for expedited transfer
Step 1. SDO message will be sent to the CAN-8423 to obtain the object entry
with index 0x1400 and sub-index 00 stored in the communication profile area.
The message structure is as follows. Moreover, the node ID of the CAN-8423
set to 1, and the information about the object entry with index 0x1400 will be
described in the chapter 6.
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
40 00 14
00
00 00 00
00
SDO client
SDO server
(CAN-8123/CAN-8223
/CAN-8423)
ccs
: 2
m
: 00 14 00
According to the low byte has the higher transferred sequence, the
first byte “00” will get the priority than the second byte “14”. Here the
last byte “00” means the sub-index 00.
Step 2. The CAN-8423 will reply to the data stored in the object entry with
index 0x1400 and 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 0 1 1 0 0 0 0 0 0 1
0
8
4F 00 14
00
02 00 00
00
SDO client
SDO server
(CAN-8123/CAN-8223
/CAN-8423)
scs
: 2
n
: 3
e
: 1
s
: 1
m
: 00 14 00
d
: 02 00 00 00
Because of the
n
=3, only the 4th byte is valid. Therefore, the
feedback value is 02.
z
Example for normal transfer