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CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------
109
Access Digital I/O & Analog I/O
Step 1. In order to change the DO value of the I-8057 to be 0x1234, users must
send the PDO message by using the first RxPDO.
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
1 0 0 0 0 0 0 0 0 1
0
8
34 12 00
00
00
00
00
00
PDO
producer
PDO consumer
(CAN-8x23)
COB-ID
: 0x201
L
: 8
PDO-msg
: 34 12 00 00 00 00
Only the first two bytes are valid, even if the
L
is set to 8, because
the data in the first RxPDO contains only two bytes. According to the
PDO mapping table shown above, the first byte is for the DO0~DO7
channel values of the I-8057. The second byte is for the DO8~DO15
channel values of the I-8057.