CAN-8124/CAN-8224/CAN-8424 User Manual
CAN-8124/ CAN-8224/ CAN-8424 User Manual (Version 2.0, Aug/2007)
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7.2.4 Change of State/Cyclic IO with Acknowledge connections
The Change of State/Cyclic connection sets use connection instance 2
(the polled connection instance) for master to slave data production and slave
to master acknowledgment. Connection instance 4 is used for slave to master
data production and master to slave acknowledgment. If a device does not
support the poll, and has no support for output data, connection instance 2
does not need to be instantiated.
The figure below shows COS/Cyclic I/O connection Identifier Fields.
IDENTIFIER BITS
10 9 8 7 6 5 4 3 2 1
0
IDENTITY USAGE
HEX
RANGE
0 1 1 0 1
Source MAC ID
Slave’s I/O Change of State or Cyclic Message
1 0
Destination MAC ID
0 1 0
Master’s Change of State or Cyclic Acknowledge
Message
1 0
Source MAC ID
0 1 1
Slave’s Explicit/ Unconnected Response Messages
1 0
Destination MAC ID
1 1 0
Group 2 Only Unconnected Explicit Request
Messages
1 0
Destination MAC ID
1 0 0
Master’s Explicit Request Messages
Note: CAN-8x24: Node ID=0x09, Master node ID=0x0A