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Step 4. Even the AI input value has been changed according the AO value, the
RxPDO will not respond automatically in the CAN-8423. Therefore, users need
to use the RTR message from the 2nd TxPDO to read back the AI value.
11-bit COB-ID (bit)
Func Code
10
9
8
7
6
5
0
1
0
1
0
0
PDO
consumer
COB-ID
:
0x281
Step 5. The feedback value for AI is 5V.
11-bit COB-ID (bit)
Func Code
10
9
8
7
6
5
0
1
0
1
0
0
PDO
consumer
COB-ID
:
0x281
L
:
8
PDO-msg
:
00 40 FD FF FD FF FD FF
The first two bytes are for AI channel 0. The others are for AI channel
1, 2, and 3. The feedback AI0 value is 0x4000. All the other AI
channels are 0xFFFD. Users need to transfer this AI0 value to float.
The I-87017's input float range is set to -10V ~ +10V and the input
hex range is from 0x8000 (-32768) to 0x7FFF (32767). The value
0x4000 (16384) can be transferred by using the following equation.
FloatValue
CAN-8x23 user's manual (Revision 3.20, Mar/08/2012) ------
Node ID
RTR
4
3
2
1
0
0
0
0
0
1
1
Node ID
RTR
4
3
2
1
0
0
0
0
0
1
0
16384
32767
. 5
001
V
Data
Length
0
1
0
00
00
Data
Length
0
1
8
00
40
32768
10
V
32768
8-byte Data (byte)
2
3
4
5
00
00
00
00
PDO consumer
(CAN-8x23)
8-byte Data (byte)
2
3
4
5
FD
FF
FD
FF
PDO consumer
(CAN-8x23)
10
V
10
V
6
7
00
00
6
7
FD
FF
112
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