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Transmission Type 0 for the first RxPDO
Step 12. Users can set the transmission type of the first RxPDO to 0.
11-bit COB-ID (bit)
Func Code
10
9
8
7
6
5
1
1
0
0
0
0
SDO client
ccs
:
1
n
:
3
e
:
1
s
:
1
m
:
00 14 02
d
:
00
11-bit COB-ID (bit)
Func Code
10
9
8
7
6
5
1
0
1
1
0
0
SDO client
scs
:
3
m
:
00 14 02
Step 13. Change the DO value of the I-8057 to be 0x5678 by using the 1st
RxPDO.
11-bit COB-ID (bit)
Func Code
10
9
8
7
6
5
0
1
0
0
0
0
PDO
producer
COB-ID
:
0x201
L
:
8
PDO-msg
:
78 56 00 00 00 00 00 00
Step 14. The DO value isn't changed immediately according to the character of
the transmission type 0. Meanwhile, the SYNC message is needed to trigger
the action of the 1st RxPDO.
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
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
Data
Length
0
1
2
8
2F
00
14
Data
Length
0
1
2
8
60
00
14
Data
Length
0
1
2
8
78
56
00
8-byte Data (byte)
3
4
5
02
00
00
00
SDO server
(CAN-8x23)
8-byte Data (byte)
3
4
5
02
00
00
00
SDO server
(CAN-8x23)
8-byte Data (byte)
3
4
5
00
00
00
00
PDO consumer
(CAN-8x23)
6
7
00
6
7
00
6
7
00
116
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