CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------
141
Step 43. Transform the DO0~DO15 of I-8057 and AO0 of I-8024 to be 0x90AB
and 0V respectively.
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 1 0
0
8
AB 90 00
00
00
00
00
00
PDO
consumer
PDO producer
(CAN-8x23)
COB-ID
: 0x202
PDO-msg
: AB 90 00 00 00 00 00 00
The first two bytes are assigned to the value 0x90AB of the
DO0~DO15 of the I-8057. The 3rd and 4th bytes are assigned to the
value 0x0000 for the AO0 of the I-8024. Total bytes of this PDO
message are 4.
Step 44. Users will receive the 1st TxPDO and 5th TxPDO simultaneous ly
because the DI values have been changed.
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
AB 90 00
00
00
00
00
00
PDO
consumer
PDO producer
(CAN-8x23)
COB-ID
: 0x181
L
: 2
PDO-msg
: AB 90 00 00 00 00 00 00