migra MPB CAN
Large Format Graphics Compatible LED Display with CANopen Interface
Page 46
microSYST Systemelectronic GmbH, Am Gewerbepark 11, 92670 Windischeschenbach
+49 9681 91960-0,
+49 9681 91960-10, [email protected], www.microsyst.de
3.12.4 Transmit RS Data Frame (CAN -> serial interface)
Receive PDO 1 (object 2000
h
, subindex 1 through 8)
Byte
Function
1
Function byte:
* Bit 7:
end bit
* Bits 6 Q 5: reserved (=0)
* Bit 4:
toggle bit
* Bit 3:
reserved (=0)
* Bits 2 ... 0: sub-frame length
2
Sub-frame byte 1
3
Sub-frame byte 2
4
Sub-frame byte 3
5
Sub-frame byte 4
6
Sub-frame byte 5
7
Sub-frame byte 6
8
Sub-frame byte 7
Toggle Bit:
Each time the toggle bit is changed, the current sub-frame is added to the
end of the transmit buffer.
End Bit:
= 0:
Sub-frames are accumulated.
= 1:
Accumulated sub-frames are transmitted (including the sub-
frame which has just been transferred if the toggle bit has also been
changed).
The transmit buffer is cleared after transmission has been
completed (in order to be able to store new sub-frames), and the
end bit is set to 0 (in order to be able to detect the end of the
transmit procedure via SDO).
Sub-Frame Length:
Length of the transferred RS sub-frame
Sub-Frame Bytes:
Are added to the end of the frame which has already been transferred to the
transmit RS buffer when the toggle bit is changed.