ECM appsCAN Module Instruction Manual page 50

Enter the number of PDOs in the TPDO by performing a SDO Write as follows:
CANid byte 0
0x600+NID 0x2F
Example: Map the PDO for AIN1 (V) and VRF3 (V) to TPDO2 for the module with NID =
0x02. (AIN1 PDO OD Address = 0x2027, VRF3 PDO OD Address = 0x2025,
ConfigOD Address for TPDO2 = 0x1A01)
CANid byte 0
0x602 0x2F
0x602 0x23
0x602 0x23
0x602 0x2F
6.11. Enable Receive Process Data Object (RPDO)
There are four RPDOs; each can be individually enabled to be received by the module as the
mapped PDO data. The module will ignore sent RPDOs if it is disabled. The following OD
addresses are required to enable each RPDO.
RPDO EnableOD
Address
RPDO1 0x1400
RPDO2 0x1401
RPDO3 0x1402
RPDO4 0x1403
To enable a RPDO, perform a SDO Write to the Enable OD Address for that particular
RPDO as follows:
CANid byte 0
0x600+NID 0x23 EnableOD
Example: Enable RPDO4 for the module with NID = 0x20, (EnableOD Address = 0x1403,
Receive CANid = 0x500 + 0x20 = 0x520).
CANid byte 0
0x620 0x23
46
byte 1 byte 2
ConfigOD ConfigOD
Address lo Address hi
byte 1 byte 2
0x01 0x1A
0x01 0x1A
0x01 0x1A
0x01 0x1A
Receive
CANid
0x200 + NID
0x300 + NID
0x400 + NID
0x500 + NID
byte 1 byte 2
EnableOD
Address lo Address hi
byte 1 byte 2
0x03 0x14
byte 3 byte 4
0x00 0x02
byte 3 byte 4 byte 5
0x00 0x00
0x01 0x20 0x00
0x02 0x20 0x00
0x00 0x02
byte 3 byte 4 byte 5
0x01 Receive Receive
CANid lo CANid hi
byte 3 byte 4 byte 5
0x01 0x20 0x05
byte 5 byte 6 byte 7
byte 6 byte 7
0x27 0x20
0x25 0x20
byte 6 byte 7
0x00 0x40
byte 6 byte 7
0x00 0x40