CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------
147
Step 3. After recognizing the 0x1003 object with sub-index 01, users will get
emergency error codes of the emergency object data recording in this object.
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
1
1 0 0 0 0 0 0 0 0 1
0
8
40 03 10
01
00
00
00
00
SDO client
SDO server
(CAN-8x23)
ccs
:
2
m
03 10 01
Step 4. The CAN-8423 will reply to the ending message.
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
1
0 1 1 0 0 0 0 0 0 1
0
8
43 03 10
01
10
82
09
00
SDO client
SDO server
(CAN-8x23)
scs
:
2
n
:
0
e
:
1
s
:
1
m
:
03 10 01
d
:
10 82 09 00
Step 5. Users have to check the object 0x1001, and make sure that the
communication and generic errors on the error register are indicated.
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
1
1 0 0 0 0 0 0 0 0 1
0
8
40 01 10
00
00
00
00
00
SDO client
SDO server
(CAN-8x23)
ccs
:
2
m
01 10 00
