CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------
129
Step 36. According to the transmission type 253, only the first TxPDO can be
transmitted when receiving the RTR message. So, users can send the RTR
message to get DI values. Then, the CAN-8423 will reply with the I-8053 digital
input status.
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
0
0 1 1 0 0 0 0 0 0 1
1
0
00 00 00
00
00
00
00
00
PDO
consumer
PDO producer
(CAN-8x23)
COB-ID
: 0x181
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
0
0 1 1 0 0 0 0 0 0 1
0
2
78 56 00
00
00
00
00
00
PDO
consumer
PDO producer
(CAN-8x23)
COB-ID
: 0x181
L
: 2
PDO-msg
: 78 56 00 00 00 00 00 00