CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------
69
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)
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
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)
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
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.
