CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------
22
For example, if the node id of CAN-2054C is 1, the commands are as below:
11-bit COB-ID (bit)
Func Code
Node ID
8-byte Data (byte)
10 9 8 7 6 5 4 3 2 1 0
RTR
Data
Length
0
1
2
3 4 5 6 7
1 1 0 0 0 0 0 0 0 0 1
0
8
2F 10 20 01 F0 00 00 00
SDO client
SDO server
(CAN-2054C)
11-bit COB-ID (bit)
Func Code
Node ID
8-byte Data (byte)
10 9 8 7 6 5 4 3 2 1 0
RTR
Data
Length
0
1
2
3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1
0
4
60
10 20 01 -- -- -- --
SDO client
SDO server
(CAN-2054C)
Write object index 0x2010 with subindex 1 to 0xF0 means that set the Ch0 ~ Ch3
of DO channels to 0, and set the Ch4 ~ Ch7 to 1 when the CAN-2054C power on.
3.4 Default PDO Mapping
RxPDO mapping list:
ID
Len
D 0
200h + x
1
DO 0 ~ DO 7
Table 3-12 Default RxPDO list
Note: x is Node-ID of the module
TxPDO mapping list:
ID
Len
D 0
180h + x
1
DI 0 ~ DI 7
Table 3-13 Default TxPDO list
Note: x is Node-ID of the module