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5.3.7. Message Priority
The iKAN series provide the function for message priority control. The iKAN-XXX-CPS module uses
object index 0x6413 and its sub-index to access the message priority control.
Function
Message #1 priority
Message #2 priority
...
Message #128 priority
The object index 0x6415 and sub-index is used to access message priority control. If the users
would like to change the priority of Message #1, the SDO command is the table as below.
For example: set Message #1 instance
11-bit COB-ID (bit)
Func Code
10
9
8
1
1
0
SDO client
Func Code
10
9
8
1
0
1
SDO client
Node ID
7
6
5
4
3
2
0
0
0
0
0
0
11-bit COB-ID (bit)
Node ID
7
6
5
4
3
2
1
0
0
0
0
0
Size
1 word
1 word
1 word
1 word
Value of priority:
value
Priority
0
Common
1
Instance
Data
RTR
Length
1
0
0
1
0
8
Data
RTR
Length
1
0
0
1
0
6
Value Range Sub-Index
0 or 1
0 or 1
0 or 1
0 or 1
8-byte Data (byte)
0
1
2
3
4
2B
15
64
01
01
SDO server
(iKAN)
8-byte Data (byte)
0
1
2
3
4
60
15
64
01
--
SDO server
(iKAN)
0x1
0x2
...
0x80
5
6
7
00
00
00
5
6
7
--
--
--
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