ICP DAS USA CAN-8823, User Manual

Page: 148 / 198

CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------ 148
Step 6. The communication and generic errors on the error register are
indicated in the received 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 4F 01 10 00 11 00 00 00
SDO client
SDO server
(CAN-8x23)
scs
: 2
n
: 3
e
: 1
s
: 1
m
: 01 10 00
d
: 11 00 00 00
Step 7. Users can send the data to RxPDO1 with data length 2. Then, the
EMCY message containing the error reset information will be received.
Because the value of TxPDO is the same with the previous one, the DO
channels will not change.
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 2 00 00 00 00 00 00 00 00
PDO
consumer
PDO producer
(CAN-8x23)
COB-ID
: 0x201
L
: 2
PDO-msg
: 00 00 00 00 00 00 00 00