ECM appsCAN Module Instruction Manual page 51

6.12. Disable Receive Process Data Object (RPDO)
The following OD addresses are required to disable each RPDO.
RPDO EnableOD
Address
RPDO1 0x1400
RPDO2 0x1401
RPDO3 0x1402
RPDO4 0x1403
To disable 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 RPDO1 for the module with NID = 0x10, (EnableOD Address = 0x1400,
Receive CANid = 0x200 + 0x10 = 0x210).
CANid byte 0
0x620 0x23
6.13. Receive Process Data Object Mapping (RPDO MAPPING)
Each RPDO is sent to the module with two PROCESS DATA OBJECTS (PDOs). Which
PDOs that the module interprets them as can be configured by the user.
Configuring a RPDO is a 4 step process:
i) Write a 0 to the RPDO 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 RPDO.
Also, the following information is required to successfully map a RPDO.
RPDO ConfigOD
Address
RPDO1 0x1600
RPDO2 0x1601
RPDO3 0x1602
RPDO4 0x1603
Receive
CANid
0x200 + NID
0x300 + NID
0x400 + NID
0x500 + NID
byte 1 byte 2
EnableOD
Address lo Address hi
byte 1 byte 2
0x00 0x14
st
PDO.
nd
PDO.
EnableOD
Address
0x1400
0x1401
0x1402
0x1403
byte 3 byte 4 byte 5
0x01 Receive Receive
CANid lo CANid hi
byte 3 byte 4 byte 5
0x01 0x10 0x02
Receive
CANid
0x200 + NID
0x300 + NID
0x400 + NID
0x500 + NID
byte 6 byte 7
0x00 0xC0
byte 6 byte 7
0x00 0xC0
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