ICP DAS USA CAN-8823 User Manual page 125

Step 28. Users can change the DO value of the I-8057 to be 0x1234 by using
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
: 34 12 00 00 00 00 00 00
Step 29. The fist TxPDO will not be transmitted immediately according to the
transmission type 252. Meanwhile, it will send the RTR message of the first
TxPDO.
11-bit COB-ID (bit)
Func Code
10 9 8 7 6 5
0 0 1 1 0 0
PDO
consumer
COB-ID
: 0x181
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 1
Data
Length
0 1 2
8 34 12 00
Data
Length
0 1 2
0 00 00 00
8-byte Data (byte)
3 4 5
00 00 00 00
PDO consumer
(CAN-8x23)
8-byte Data (byte)
3 4 5
00 00 00 00
PDO producer
(CAN-8x23)
6 7
00
6 7
00
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