ECM NOxCAN, Instruction Manual, Page: 21 / 46

21
Minimum Broadcast Rate (ms) = (3 + 1 + 4 + 2 + 4 + 4 + 4 + 4) x 0.3125 = 8.125ms. Since the
broadcast rate is valid only in increments of 1ms, round 8.125ms up to the next integer value;
9ms. Therefore no module can have a TPDO broadcast rate less than 9ms.
8.7
Enable Transmit Process Data Object (TPDO)
There are four TPDOs, each can be individually enabled to transmit the mapped PDO data at the
broadcast rate. The following OD addresses are required to enable each TPDO.
TPDO EnableOD
Address
Transmit
CANid
TPDO1 0x1800 0x180 + NID
TPDO2 0x1801 0x280 + NID
TPDO3 0x1802 0x380 + NID
TPDO4 0x1803 0x480 + NID
To enable 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 0x40
Example: Enable TPDO4 for the module with NID = 0x20, (EnableOD Address = 0x1803,
Transmit CANid = 0x480 + 0x20 = 0x4A0).
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: