CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------
135
index 0x1A05 with sub-index 00 must be changed to 3. The value 3 means
there are 3 objects mapped to the 5th TxPDO. They are the index 0x6000 with
sub-index 01, index 0x6000 with sub-index 02, and index 0x6401 with
sub-index 01.
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 05 1A
00
03
00
00
00
SDO client
SDO server
(CAN-8x23)
ccs
:
1
n
:
3
e
:
1
s
:
1
m
:
05 1A 00
d
:
03 00 00 00
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 05 1A
00
00
00
00
00
SDO client
SDO server
(CAN-8x23)
scs
:
3
m
:
05 1A 00
Step 42. Users can use the 5th RxPDO to create a new PDO communication