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5.3.8. Message Moving Type
The iKAN series provide the function for message moving type control. The iKAN-XXX-CPS module
uses object index 0x641D and its sub-index to access the message moving type.
Function
Message #1 moving type
Message #2 moving type
...
Message #128 moving type
The object index 0x641D and sub-index is used to access message moving type. If the users would
like to change the moving type of Message #1, the SDO command is the table as below.
For example: set Message #1 moving type to 3
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
Data
RTR
Length
1
0
0
1
0
8
Data
RTR
Length
1
0
0
1
0
6
Value Range Sub-Index
0 - 3
0 - 3
0 - 3
0 - 3
8-byte Data (byte)
0
1
2
3
4
2B
1D
64
01
03
SDO server
(iKAN)
8-byte Data (byte)
0
1
2
3
4
60
1D
64
01
--
SDO server
(iKAN)
0x1
0x2
...
0x80
5
6
7
00
00
00
5
6
7
--
--
--
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