ECM appsCAN Module Instruction Manual page 37

IEEE-754 standard. All RPDO data is transmitted on the CAN bus least significant byte first
(Intel format).
The NID and RPDO mapping can be changed by the user.
Example: The following data was sent to the module with NID = 0x10 on RPDO1 and
contains 2 PDOs, AO1V and PWM1.
byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
TPDO1 CAN id
0x210 0xA0 0x1A 0x4B 0x41 0x79 0x58 0xC0 0x3F
AO1V = 0x40900000 = 4.50
PWM1 = 0x42960000 = 75
Configuring how each PDO in a particular RPDO is interpreted by the module is also known
as RPDO Mapping and can be set by the user (see Section 6.13 RPDO Mapping).
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