ICP DAS USA CAN-8823 User Manual page 117

11-bit COB-ID (bit)
Func Code
10 9 8 7 6 5
0 0 0 1 0 0
SYNC
producer
COB-ID
: 0x80
The message of the SYNC object is always fixed as the format
described above. The COB-ID of the SYNC object can be changed
arbitrarily. It complies with the producer/consumer relationship.
Step 15. After transmitting the SYNC object, the 1st RxPDO is triggered. The
DI value is also changed at the same time. Hence, users can receive the 1st
TxPDO from CAN-8423.
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
: 78 56 00 00 00 00 00 00
Step 16. Users can set the transmission type of the first RxPDO to 255 to finish
the test.
11-bit COB-ID (bit)
Func Code
CAN-8x23 user's manual (Revision 3.20, Mar/08/2012) ------
Node ID RTR
4 3 2 1 0
0 0 0 0 0 0
Node ID RTR
4 3 2 1 0
0 0 0 0 1 0
RTR
Node ID
Data
Length
0 1 2
0 00 00 00
Data
Length
0 1 2
2 78 56 00
Data
Length
8-byte Data (byte)
3 4 5
00 00 00 00
SYNC consumer
(CAN-8x23)
8-byte Data (byte)
3 4 5
00 00 00 00
PDO producer
(CAN-8x23)
8-byte Data (byte)
6 7
00
6 7
00
117