Table of Contents
Advertisement
Example for expedited transfer
Step 1. SDO message will be sent to the CAN-8423 to obtain the object entry
with index 0x1400 and sub-index 00 stored in the communication profile area.
The message structure is as follows. Moreover, the node ID of the CAN-8423
set to 1, and the information about the object entry with index 0x1400 will be
described in the chapter 6.
11-bit COB-ID (bit)
Func Code
10
9
8
7
6
5
1
1
0
0
0
0
SDO client
ccs
:
2
m
:
00 14 00
According to the low byte has the higher transferred sequence, the
first byte "00" will get the priority than the second byte "14". Here the
last byte "00" means the sub-index 00.
Step 2. The CAN-8423 will reply to the data stored in the object entry with
index 0x1400 and sub-index 00.
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
:
00 14 00
d
:
02 00 00 00
Because of the n=3, only the 4th byte is valid. Therefore, the
feedback value is 02.
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
Length
0
1
2
8
40
00
14
Data
Length
0
1
2
8
4F
00
14
8-byte Data (byte)
3
4
5
00
00
00
00
SDO server
(CAN-8x23)
8-byte Data (byte)
3
4
5
00
02
00
00
SDO server
(CAN-8x23)
6
7
00
6
7
00
70
Advertisement
Table of Contents
