CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------
149
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 1
0
8
00 00 00
00
00
00
00
00
NMT master
NMT slaver
(CAN-8x23)
EMCY-msg
: 00 00 00 00 00 00 00 00
The data “00 00 00 00 00 00 00 00” are for the error reset EMCY
message, i.e. CAN-8423 has no error now.
Step 9. Users have to check the index 0x1003 with sub -index 01 again. Then,
the error reset emergency code should be recorded.
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
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
00
00
00
00
SDO client
SDO server
(CAN-8x23)
ccs
:
1
n
:
0
e
:
1
s
:
1
m
:
03 10 01
d
:
00 00 00 00