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11-bit COB-ID (bit)
Func Code
10
9
8
7
6
5
1
0
1
1
0
0
SDO client
Write the output value 0x3FFF into the object index 0x6444 with subindex 1. The
CAN-2024C responds that it is successful.
Type Code for CAN-2024C Module (index = 0x2004)
Setting the type code will decide the output ranges of the CAN-2024C. If
the node ID of the CAN-2024C is 1, the commands are listed as below:
11-bit COB-ID (bit)
Func Code
10
9
8
7
6
5
1
1
0
0
0
0
SDO client
11-bit COB-ID (bit)
Func Code
10
9
8
7
6
5
1
0
1
1
0
0
SDO client
Write the type code value 0x34 into the object with index 0x2004 and subindex 1.
The CAN-2024C responds that it is successful.
Error Mode and Error Value (0x6443, 0x6444)
The object 0x6443 and 0x6444 are used to control the safe value when
the CAN-2024C is into stop mode or some error happens, such as node
guarding failure, it will check the value of the object 0x6443. If some bits of the
subindex 1 of this object are set to 1, the corresponding AO channels will
output the error mode output values which are described in the corresponding
subindex of the object 0x6444. For example, if set the value 1 into the object of
0x6443 with subindex 1 and a value 0x3FFF into the object 0x6444 with
subindex 1 respectively, when some error event occurs, only the channel 0 will
output the error mode output value 0x3FFF because the index 0x6443 with
subindex 1 is set to 1. The others channels keeps the status as the error event
CAN-2024C user's manual (Revision 1.10, Mar/02/2016) ------
Node ID
RTR
4
3
2
1
0
0
0
0
0
1
0
Node ID
RTR
4
3
2
1
0
0
0
0
0
1
0
Node ID
RTR
4
3
2
1
0
0
0
0
0
1
0
8-byte Data (byte)
Data
Length
0
1
2
4
60
44
64
8-byte Data (byte)
Data
Length
0
1
2
8
2F
04
20
8-byte Data (byte)
Data
Length
0
1
2
4
60
04
20
(CAN-2024C)
3
4
5
6
7
01
--
--
--
--
SDO server
(CAN-2024C)
3
4
5
6
7
01
34
00
00
00
SDO server
(CAN-2024C)
3
4
5
6
7
01
--
--
--
--
SDO server
(CAN-2024C)
17
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