CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------
108
Before describing the example, the step0 must be checked. And the
default COB-ID for each communication object is assumed to be being used.
Step0: The following message must be sent in order to change the NMT state
of the CAN-8423 first, because only the PDO communication can run under
the NMT Operational state.
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0
0
1
2
3
4
5
6
7
0
0 0 0 0 0 0 0 0 0 0
0
8
01 01 00
00
00
00
00
00
NMT master
NMT slave
(CAN-8x23)
cs
:
1
Node ID
:
1
