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Step 6. The communication and generic errors on the error register are
indicated in the received message.
11-bit COB-ID (bit)
Func Code
10
9
8
7
6
5
1
0
1
1
0
0
SDO client
scs
:
2
n
:
3
e
:
1
s
:
1
m
:
01 10 00
d
:
11 00 00 00
Step 7. Users can send the data to RxPDO1 with data length 2. Then, the
EMCY message containing the error reset information will be received.
Because the value of TxPDO is the same with the previous one, the DO
channels will not change.
11-bit COB-ID (bit)
Func Code
10
9
8
7
6
5
0
1
0
0
0
0
PDO
consumer
COB-ID
:
0x201
L
:
2
PDO-msg
:
00 00 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
1
0
Data
8-byte Data (byte)
Length
0
1
2
8
4F
01
10
8-byte Data (byte)
Data
Length
0
1
2
2
00
00
00
3
4
5
6
00
11
00
00
SDO server
(CAN-8x23)
3
4
5
6
00
00
00
00
PDO producer
(CAN-8x23)
148
7
00
7
00
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