ECM appsCAN Module Instruction Manual page 49

Example: Enable TPDO1 for the module with NID = 0x10, (EnableOD Address = 0x1800,
Transmit CANid = 0x180 + 0x10 = 0x190).
CANid byte 0
0x620 0x23
6.10. Transmit Process Data Object Mapping (TPDO MAPPING)
Each TPDO transmits two PROCESS DATA OBJECTS (PDOs). Which PDOs are
transmitted by the module in a particular TPDO can be configured by the user.
Configuring a TPDO is a 4 step process:
i) Write a 0 to the TPDO Configuration OD Address, subindex 0x00.
ii) Enter the OD address of the 1
(see Table 2 in "Data Sent to and from Module")
iii) Enter the OD address of the 2
iv) Enter the number of PDOs in the TPDO.
Also, the following information is required to successfully map a TPDO.
TPDO ConfigOD
Address
TPDO1 0x1A00
TPDO2 0x1A01
TPDO3 0x1A02
TPDO4 0x1A03
Write a 0 to the TPDO Configuration OD Address, subindex 0x00 by performing a SDO
Write as follows:
CANid byte 0
0x600+NID 0x2F
st
Configure the 1 PDO by performing a SDO Write follows:
CANid byte 0
0x600+NID 0x23 ConfigOD
nd
Configure the 2 PDO by performing a SDO Write follows:
CANid byte 0
0x600+NID 0x23 ConfigOD
byte 1 byte 2
0x00 0x18
st
PDO.
nd
PDO.
EnableOD
Address
0x1800
0x1801
0x1802
0x1803
byte 1 byte 2
ConfigOD ConfigOD
Address lo Address hi
byte 1 byte 2
ConfigOD
Address lo Address hi
byte 1 byte 2
ConfigOD
Address lo Address hi
byte 3 byte 4 byte 5
0x01 0x90 0x01
Transmit
CANid
0x180 + NID
0x280 + NID
0x380 + NID
0x480 + NID
byte 3 byte 4
0x00 0x00
byte 3 byte 4 byte 5
0x01 0x20 0x00
byte 3 byte 4 byte 5
0x02 0x20 0x00
byte 6 byte 7
0x00 0xC0
byte 5 byte 6 byte 7
byte 6 byte 7
PDO OD PDO OD
Address lo Address hi
byte 6 byte 7
PDO OD PDO OD
Address lo Address hi
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