ECM NH3CAN, Instruction Manual, Page: 19 / 35

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CURRENT NID = 0x10 (16)
PRODUCT CODE = 0x03 (3)
REVISION NUMBER = 0x03 (3)
SERIAL NUMBER = 0x192 (402)
NEW NID = 0x1A (26)
MESSAGE SENT
MODULE REPLY
Example: Change the NID for the only CANopen module on the CAN bus.
CURRENT NID = 0x10 (16)
NEW NID = 0x1A (26)
MESSAGE SENT
MODULE REPLY
8.6
Changing the TPDO Broadcast Rate
The data broadcast rate can be programmed from 5 ms to 65535 ms and applies to all TPDOs
that have been enabled (see section 8.7). It is an unsigned 16bit integer (2 bytes) written least
significant byte (LSB) first (Intel format) to OD address 0x1800, subindex 0x05. The format of
the SDO Write to the LambdaCAN module is as follows:
CANid byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x600+NID 0x2B 0x00 0x18 0x05 Broadcast
rate lo
Broadcast
rate hi
Example: Set TPDO broadcast rate to 500 ms (0x01F4) for the module with NID = 0x0F (15).
CAN id byte 0 byte 1 byte 2 byte 3 byte 4
0x00 0x80 0x10
0x7E5 0x04 0x00
0x7E5 0x40 0xC6 0x01 0x00 0x00
0x7E5 0x41 0x03 0x00 0x00 0x00
0x7E5 0x42 0x03 0x00 0x00 0x00
0x7E5 0x43 0x92 0x01 0x00 0x00
0x7E5 0x11 0x1A
0x7E5 0x04 0x00
0x00 0x82 0x1A
CAN id byte 0 byte 1
0x7E4 0x44
0x7E4 0x11 0x00
CAN id byte 0 byte 1
0x00 0x80 0x10
0x7E5 0x40 0x01
0x7E5 0x11 0x1A
0x7E5 0x04 0x00
0x00 0x82 0x1A
CAN id byte 0 byte 1
0x7E4 0x44
0x7E4 0x11 0x00