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5.3.12. ASCII String
The iKAN series provide the function that allow the Host PC or a PLC to write real-time ASCII
string via the CANopen protocol. The iKAN-XXX-CPS module uses object index 0x6421 and its sub-
index to implement the function.
For example:
Set ASCII String#1 "abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ:;".
Step1: Tell the iKAN module start to write ASCII String
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
Step2: Start to write ASCII String
Send (Data0=00) + (Data1~7=ASCII String data)
11-bit COB-ID (bit)
Func Code
10
9
8
1
1
0
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
Node ID
7
6
5
4
3
2
0
0
0
0
0
0
11-bit COB-ID (bit)
Data
RTR
Length
1
0
0
1
0
8
Data
RTR
Length
1
0
0
1
0
4
Data
RTR
Length
1
0
0
1
0
8
RTR
Data
8-byte Data (byte)
0
1
2
3
4
21
21
64
01
40
SDO server
(iKAN)
8-byte Data (byte)
0
1
2
3
4
60
21
64
01
--
SDO server
(iKAN)
8-byte Data (byte)
0
1
2
3
4
00
61
62
63
64
SDO server
(iKAN)
8-byte Data (byte)
5
6
7
00
00
00
5
6
7
--
--
--
5
6
7
65
66
67
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