CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------
84
Step 7. When the reception is confirmed, the CAN-8423 will send a message
to enter the End SDO Block Upload protocol.
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
D5 00 00 00 00 00 00 00
SDO client
SDO server
(CAN-8x23)
scs
:
6
n
:
5
This value means the invalid data in the last segment are from
[8-5] to 7, i.e. only the first 3 bytes are valid.
ss
:
1
crc
:
00 00
Step 8. Users will send a message to finish the End SDO Block Upload
protocol.
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
A1 00 00 00 00 00 00 00
SDO client
SDO server
(CAN-8x23)
ccs
:
5
cs
:
1
