ICP DAS USA CAN-8823 User Manual page 105

PDO Producer
11-bit COB-ID (bit)
request
COB-ID
: the default PDO COB-ID, or the PDO COB-ID can be defined by
user
L
: the data length about how many bytes the PDO message has
PDO-msg : the real-time data or the data which can be mapped into the
PDO mapping objects
PDO Consumer
11-bit COB-ID (bit)
request
11-bit COB-ID (bit)
Indication
COB-ID
: the default PDO COB-ID, or the PDO COB-ID defined by users
L
: the data length about how many bytes the PDO message has
PDO-msg : the real-time data or the data which can be mapped into the
PDO mapping objects
CAN-8x23 user's manual (Revision 3.20, Mar/08/2012) ------
RTR Len
10~0
COB-ID 0
Write PDO Protocol
Remote Transmit Request
RTR Len
10~0
COB-ID 1 0
RTR Len
10~0
COB-ID 0 L
Read PDO Protocol
8-byte Data (byte)
0~7
L PDO-msg
8-byte Data (byte)
0~7
reserved
8-byte Data (byte)
0~7
PDO-msg
PDO Consumers
Indication
indication
indication
PDO Producer
request
request
105