Sending arbitrary CAN telegrams
The ADSWRITE command can be used to send any CAN message.
Input parameters | Description |
|---|---|
NETID | NetId of the CAN interface |
Port number | 200 |
IDXGRP | 16#0000F921 |
IDXOFFS | 0 |
LEN | 11 bytes |
SRCADDR | Pointer to an 11 byte ARRAY |
Byte | Description | Example Node 7 SDO 0x607 |
|---|---|---|
1 | COB-ID LowByte | 0x06 (SDO Low Byte) |
2 | COB-ID HighByte | 0x07 (SDO High Byte) |
3 | LEN (length) | 0x08 (LEN, may be 5 in this case) |
4 | Data[1] | 0x22 (Download Request) |
5 | Data[2] | 0x00 (Index Low Byte) |
6 | Data[3] | 0x21 (Index High Byte) |
7 | Data[4] | 0x01 (Sub Index) |
8 | Data[5] | 0x01 (Value "1") |
9 | Data[6] | 0x00 |
10 | Data[7] | 0x00 |
11 | Data[8] | 0x00 |