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CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------
81
Step 5. The CAN-8423 will transmit the rest of the data.
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
82 33 00 00 00 00 00 00
SDO client
SDO server
(CAN-8x23)
c
: 1
seqno
: 2
seg-data
: 33 00 00 00 00 00 00
Because this segment is the last one, not all of the data in the
seg-data
filed is useful. The valid data length will be indicated
when the CAN-8423 send a message to finish the Block Upload
protocol. Please refer to the value of
n
in the step 7.
Step 6. Then, users will send a message to confirm the received data
transmitted from the CAN-8423.
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
A2 02 7F 00 00 00 00 00
SDO client
SDO server
(CAN-8x23)
ccs
: 5
cs
: 2
ackseq
: 2
blksize
: 7F