ICP DAS USA CAN-8823 User Manual page 129

Step 36. According to the transmission type 253, only the first TxPDO can be
transmitted when receiving the RTR message. So, users can send the RTR
message to get DI values. Then, the CAN-8423 will reply with the I-8053 digital
input status.
11-bit COB-ID (bit)
Func Code
10 9 8 7 6 5
0 0 1 1 0 0
PDO
consumer
COB-ID
: 0x181
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
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
Data
Length
0 1 2
0 00 00 00
Data
Length
0 1 2
2 78 56 00
8-byte Data (byte)
3 4 5
00 00 00 00
PDO producer
(CAN-8x23)
8-byte Data (byte)
3 4 5
00 00 00 00
PDO producer
(CAN-8x23)
6 7
00
6 7
00
129