CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------
89
Example for expedited transfer
Step 1. The Rx SDO message is sent to the CAN-8423 to access the object
entry with index 0x1400 and sub -index 02 stored in the communication profile
area. For example, the value of this object entry is changed to 5, as the node
ID for the CAN-8423 is set to 1.
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
2F 00 14
02
05
00
00
00
SDO client
SDO server
(CAN-8x23)
ccs
:
1
n
:
3
e
:
1
s
:
1
m
:
00 14 02
d
:
05 00 00 00
Because the
n
=3, only the 4th byte is valid. Therefore, the feedback
value is 05.
Step 2. The CAN-8423 will reply with the message to finish the data download.
Then, users can use the upload methods to read back the value.
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
60 00 14
02
00
00
00
00
SDO client
SDO server
(CAN-8x23)
scs
:
3
m
:
00 14 00