ICP DAS USA CAN-8823, User Manual

Page: 117 / 198

CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------ 117
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 1 0 0 0 0 0 0 0 0 0 00 00 00 00 00 00 00 00
SYNC
producer
SYNC consumer
(CAN-8x23)
COB-ID
: 0x80
The message of the SYNC object is always fixed as the format
described above. The COB-ID of the SYNC object can be changed
arbitrarily. It complies with the producer/consumer relationship.
Step 15. After transmitting the SYNC object, the 1st RxPDO is triggered. The
DI value is also changed at the same time. Hence, users can receive the 1st
TxPDO from CAN-8423.
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 1 1 0 0 0 0 0 0 1 0 2 78 56 00 00 00 00 00 00
PDO
consumer
PDO producer
(CAN-8x23)
COB-ID
: 0x181
L
: 2
PDO-msg
: 78 56 00 00 00 00 00 00
Step 16. Users can set the transmission type of the first RxPDO to 255 to finish
the test.
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code Node ID