Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 50)

Server acknowledges that the RSDO was received OK:

TSDO

20 00 00 00 00 00 00 00

Client gets PX value from OS interpreter (assuming OS was already defined as “Evaluate

Immediately”:

RSDO Object 0x1023 Sub 1 P X

23 23 10 01 50 58 00 00

Server acknowledges that the RSD0 was received OK:

TSDO Object 0x1023

60 23 10 01 00 00 00 00

Client queries status of command:

RSDO Object 0x1023 Sub-index

40 23 10 02 00 00 00 00

Server replies that command was executed and that the result is waiting:

TSDO Object 0x1023 Sub-index

Execute OK

42 23 10 02 01 00 00 00

Client queries for reply value:

RSDO Object 0x1023 Sub-index

42 23 10 03 00 00 00 00

Server replies with value of valid PX:

TSDO Object 0x1023 Sub-index

1 2 3 4

43 23 10 03 31 32 33 34

CANopen DS 301 Implementation Guide The OS Prompt Interpreter

MAN-CAN301IG (Ver. 2.1)

10-2

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Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 50