ECM NH3CAN, Instruction Manual, Page: 21 / 35

21
CANid byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x620 0x23 0x03 0x18 0x01 0xA0 0x04 0x00 0x40
8.8
Disable Transmit Process Data Object (TPDO)
The following OD addresses are required to disable each TPDO.
TPDO EnableOD
Address
Transmit
CANid
TPDO1 0x1800 0x180 + NID
TPDO2 0x1801 0x280 + NID
TPDO3 0x1802 0x380 + NID
TPDO4 0x1803 0x480 + NID
To disable a TPDO perform a SDO Write to the Enable OD Address for that particular TPDO as
follows:
CANid byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x600+NID 0x23 EnableOD
Address lo
EnableOD
Address hi
0x01 Transmit
CANid lo
Transmit
CANid hi
0x00 0xC0
Example: Enable TPDO1 for the module with NID = 0x10, (EnableOD Address = 0x1800,
Transmit CANid = 0x180 + 0x10 = 0x190).
CANid byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x620 0x23 0x00 0x18 0x01 0x90 0x01 0x00 0xC0
8.9
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
st
PDO.
(see Appendix D PROCESS DATA OBJECTS)
iii) Enter the OD address of the 2
nd
PDO.
iv) Enter the number of PDOs in the TPDO.
Also, the following information is required to successfully map a TPDO.