![background image](http://html1.mh-extra.com/html/icp-das-usa/can-8823/can-8823_user-manual_3546251101.webp)
CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------
101
5.2 PDO Communication Set
5.2.1 PDO COB-ID Parameters
Before the real-time data are transmitted by the PDO, it is necessary to
check the COB-ID parameter of this PDO in the PDO communication objects.
This parameter setting controls the COB-ID of the PDO communication, which
is in 32 bits, and each bit with its meaning is given in the table follow.
Bit Number
Value
Meaning
31 (MSB)
0
PDO exits (PDO is valid)
1
PDO does not exist (PDO is not valid)
30
0
RTR allowed on this PDO
1
No RTR allowed on this PDO
29
0
11-bit ID (CAN 2.0A)
1
29-bit ID (CAN 2.0B)
28-11
0
If bit 29=0
x
If bit 29=1: 28-11 bits of 29-bit COB-ID
10-0 (LSB)
x
10-0 bits of COB-ID
Note: Only CAN-8123/CAN-8223/CAN-8423 supports CAN 2.0A.
In the following table, it
’s regarding the default PDO COB-ID
parameters.
Number of PDO
Default COB-ID of PDO
Bit10~Bit7
(Function Code)
Bit6~Bit0
TxPDO1
0011
Node ID
TxPDO2
0101
Node ID
TxPDO3
0111
Node ID
TxPDO4
1001
Node ID
RxPDO1
0100
Node ID
RxPDO2
0110
Node ID
RxPDO3
1000
Node ID
RxPDO4
1010
Node ID