CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------
71
Example for normal transfer
Step 1. Send the RxSDO message to the CAN-8423 to obtain the object entry
with index 0x1008 and sub -index 00 stored in the communication profile area.
The message structure is as follows. Moreover, the node ID for the CAN-8423
set to 1, and the information about object entry with index 0x1008 will be
described in the chapter 6.
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 08 10 00 00 00 00 00
SDO client
SDO server
(CAN-8x23)
ccs
:
2
m
:
08 10 00
Step 2. The CAN-8423 will respond to the SDO message with the indication of
how many bytes will be uploaded from the 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
1
0
1
1 0 0 0 0 0 0 1
0
8
41 08 10 00 09 00 00 00
SDO client
SDO server
(CAN-8x23)
scs
:
2
n
:
0
e
:
0
s
:
1
m
:
08 10 00
d
:
09 00 00 00
Because of the
e
=0 and
s
=1, the
d
means how many data users
will upload from the CAN-
8423. The byte “09” is the lowest byte in
the data length with a
long format. Therefore, the data “09 00 00
00” means that users will upload 9 bytes data from CAN-8423.
