ICP DAS USA CAN-8823 User Manual page 120

the first 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
: AB 90 00 00 00 00 00 00
Step 19. The first TxPDO will not be transmitted immediately even if the DI
value is changed according to the character of the transmission type 0. In
addition, the SYNC message is needed to trigger the action of the first TxPDO.
11-bit COB-ID (bit)
Func Code
10 9 8 7 6 5
0 0 0 1 0 0
SYNC
producer
COB-ID
: 0x80
Step 20. After transmitting the SYNC object, the 1st TxPDO is triggered, and
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
: 90 AB 00 00 00 00 00 00
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 0 0
Node ID RTR
4 3 2 1 0
0 0 0 0 1 0
Data
Length
0 1 2
8 AB 90 00
Data
Length
0 1 2
0 00 00 00
Data
Length
0 1 2
2 90 AB 00
8-byte Data (byte)
3 4 5
00 00 00
PDO consumer
(CAN-8x23)
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
PDO producer
(CAN-8x23)
6 7
00 00
6 7
00
6 7
00 00
120