ICP DAS USA CAN-8823 User Manual page 110

Step 2. Because of the change of the DI-channel status, the TxPDO is
transmitted automatically when the transmission type is 255, based on the
CANopen spec 401. Then, users will receive the 1st TxPDO message.
11-bit COB-ID (bit)
Func Code
10 9 8 7 6 5
0 0 1 1 0 0
PDO
consumer
COB-ID
: 0x181
L
: 2
PDO-msg
: 34 12 00 00 00 00 00 00
Because the data length is 2, only the first two bytes are valid. The
DI value will be 1 if the DI is OFF, according to the character of the
I-8053 DI channels. Therefore, the first byte indicates that the DI2,
DI4, and DI5 of the I-8053 are in ON state. The second byte shows
that the DI9 and DI12 of the I-8053 are in ON state.
CAN-8x23 user's manual (Revision 3.20, Mar/08/2012) ------
Node ID RTR
4 3 2 1 0
0 0 0 0 1 0
Data
Length
0 1 2
2 34 12 00
8-byte Data (byte)
3 4 5
00 00 00 00
PDO consumer
(CAN-8x23)
6 7
00
110