ECM appsCAN Module Instruction Manual page 48

6.8. Enable Transmit Process Data Object (TPDO)
There are four TPDOs; each can be individually enabled to transmit the mapped PDO data at
the broadcast rate. The following OD addresses are required to enable each TPDO.
TPDO EnableOD
Address
TPDO1 0x1800
TPDO2 0x1801
TPDO3 0x1802
TPDO4 0x1803
To enable a TPDO, perform a SDO Write to the Enable OD Address for that particular
TPDO as follows:
CANid byte 0
0x600+NID 0x23
Example: Enable TPDO4 for the module with NID = 0x20, (EnableOD Address = 0x1803,
Transmit CANid = 0x480 + 0x20 = 0x4A0).
CANid byte 0
0x620 0x23
6.9. Disable Transmit Process Data Object (TPDO)
The following OD addresses are required to disable each TPDO.
TPDO EnableOD
Address
TPDO1 0x1800
TPDO2 0x1801
TPDO3 0x1802
TPDO4 0x1803
To disable a TPDO, perform a SDO Write to the Enable OD Address for that particular
TPDO as follows:
CANid byte 0
0x600+NID 0x23 EnableOD
44
Transmit
CANid
0x180 + NID
0x280 + NID
0x380 + NID
0x480 + NID
byte 1 byte 2
EnableOD EnableOD
Address lo Address hi
byte 1 byte 2
0x03 0x18
Transmit
CANid
0x180 + NID
0x280 + NID
0x380 + NID
0x480 + NID
byte 1 byte 2
EnableOD
Address lo Address hi
byte 3 byte 4
0x01 Transmit
CANid lo
byte 3 byte 4
0x01 0xA0
byte 3 byte 4 byte 5
0x01 Transmit Transmit
CANid lo CANid hi
byte 5 byte 6 byte 7
Transmit 0x00 0x40
CANid hi
byte 5 byte 6 byte 7
0x04 0x00 0x40
byte 6 byte 7
0x00 0xC0