ECM appsCAN Module Instruction Manual page 36

Sent to (RPDO) and from (TPDO) Module" section contains a list of all available TPDO
parameters.
Each module can transmit up to four TRANSMIT PROCESS DATA OBJECTS (TPDO) at
the programmed TPDO broadcast rate (see Section 6.7 to determine minimum broadcast
rate). A TPDO contains two data values; each corresponds to a measured parameter (e.g.
VSW, AIN1, VRF1, etc). These data values are referred to as PROCESS DATA OBJECTS
(PDO). Each PDO is a single precision 32 bit floating point number that conforms to the
IEEE-754 standard. All TPDO data is transmitted on the CAN bus least significant byte first
(Intel format).
The NID, TPDO Broadcast rate and TPDO mapping can be changed by the user.
Example: The following data was transmitted by the module with NID = 0x10 on TPDO1
and contains 2 PDOs, VRF1 and AIN1.
TPDO1 CAN id byte 0
0x190 0xA0
VRF1 = 0x414B1AA0 = 12.694
AIN1 = 0x3FC05879= 1.5027
Configuring which PDOs are transmitted in a particular TPDO is also known as TPDO
MAPPING and can be set by the user (see Section 6.10 TPDO Mapping).
iv) RECEIVE PROCESS DATA OBJECT [RPDO] (DLC=8)
RPDO1 CAN id byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x200+NID
RPDO2 CAN id byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x300+NID
RPDO3 CAN id byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x400+NID
RPDO4 CAN id byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x500+NID
The table above shows the default RPDO assignments. Note that all RPDOs are enabled (see
Sections 6.11 Enable RPDO, 6.12 Disable RPDO, and 6.13 RPDO Mapping). Table 2 in
"Data Sent to (RPDO) and from (TPDO) Module" section contains a list of all available PDO
parameters.
Each module can receive up to four RECEIVE PROCESS DATA OBJECTS (RPDO). An
RPDO contains two data values; each corresponds to a commanded parameter (e.g. AO1V,
AO1%, PWM1, etc). These data values are referred to as PROCESS DATA OBJECTS
(PDO). Each PDO is a single precision 32 bit floating point number that conforms to the
32
byte 1 byte 2 byte 3
0x1A 0x4B 0x41
AO1V (V)
AO2V (V)
AO3V (V)
AO4V (V)
byte 4 byte 5 byte 6
0x79 0x58 0xC0
PWM1 (%)
PWM2 (%)
PWM3 (%)
PWM4 (%)
byte 7
0x3F