migra MPB CAN
Large Format Graphics Compatible LED Display with CANopen Interface
Page 50
microSYST Systemelectronic GmbH, Am Gewerbepark 11, 92670 Windischeschenbach
+49 9681 91960-0,
+49 9681 91960-10, [email protected], www.microsyst.de
3.12.5 Receiving RS Frames (serial interface -> CAN)
Transmit PDO 1 (object 2001
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:
Is changed each time a sub-frame is transferred.
End Bit:
= 0:
Further sub-frames to follow
= 1:
Last sub-frame
Sub-Frame Length:
Length of the currently transferred RS sub-frame
Sub-Frame Bytes:
Currently transferred RS sub-frame